diff --git a/pick_classic/run_command.sh b/pick_classic/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..2e2238ba883fa3e265c3fc831634a4c425468c74 --- /dev/null +++ b/pick_classic/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_classic --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickHardBench/FrankaPickHardBench_20260206_json_benchmark --task-name pick_classic --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization diff --git a/pick_filament/run_command.sh b/pick_filament/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..1555b1d41c5e0c50e85627cbfd448c25e6100201 --- /dev/null +++ b/pick_filament/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_filament --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickHardBench/FrankaPickHardBench_20260206_json_benchmark --task-name pick_filament --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament diff --git a/pick_msproc/pick_msproc/benchmark_shards/shard_05/manifest.json b/pick_msproc/pick_msproc/benchmark_shards/shard_05/manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..b2bb3dfd7900d1209615f93af5c557848a264cd5 --- /dev/null +++ b/pick_msproc/pick_msproc/benchmark_shards/shard_05/manifest.json @@ -0,0 +1,90 @@ +{ + "shard_idx": 5, + "num_episodes": 125, + "num_houses": 83, + "house_indices": [ + 13, + 29, + 60, + 85, + 97, + 109, + 125, + 144, + 179, + 221, + 241, + 270, + 300, + 323, + 348, + 373, + 386, + 412, + 439, + 469, + 490, + 534, + 548, + 571, + 583, + 620, + 638, + 659, + 694, + 733, + 761, + 792, + 827, + 839, + 860, + 882, + 895, + 912, + 937, + 961, + 973, + 998, + 43, + 55, + 82, + 127, + 152, + 172, + 191, + 210, + 238, + 254, + 274, + 303, + 325, + 346, + 360, + 397, + 416, + 438, + 468, + 489, + 509, + 524, + 540, + 567, + 588, + 609, + 631, + 663, + 682, + 699, + 720, + 742, + 764, + 783, + 808, + 842, + 881, + 913, + 936, + 951, + 983 + ] +} diff --git a/pick_msproc/pick_msproc/shards/shard_00.launcher.log b/pick_msproc/pick_msproc/shards/shard_00.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..49f63351f3f1191c73c3fe9966839b07ec5f5a7f --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_00.launcher.log @@ -0,0 +1,2985 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,333] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,522] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,554] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 (source=arg) +[2026-05-24 15:59:56,829] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,164] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,611] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,611] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,987] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,037] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,073] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 3 episodes each (249 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3, + 17, + 36, + 47, + 70, + 75, + 89, + 98, + 104, + 113, + 129, + 139, + 160, + 164, + 167, + 183, + 194, + 197, + 216, + 230, + 244, + 249, + 261, + 282, + 292, + 310, + 317, + 331, + 334, + 352, + 363, + 370, + 376, + 395, + 406, + 425, + 427, + 446, + 447, + 473, + 481, + 495, + 512, + 513, + 528, + 541, + 552, + 554, + 574, + 576, + 598, + 599, + 616, + 629, + 643, + 653, + 666, + 675, + 691, + 706, + 707, + 725, + 739, + 750, + 770, + 773, + 793, + 806, + 822, + 832, + 847, + 856, + 871, + 887, + 899, + 900, + 922, + 924, + 943, + 944, + 965, + 968, + 984], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,077] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:46 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,570:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,570] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_3_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 3 episode 0/1 collected=0/3 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.642 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:56,383] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:56,702] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:03,225] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:12,104] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:12,119] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 16:06:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3: 1 episodes +[05/24 16:06:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:06:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:06:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_3 +[05/24 16:06:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3 in 1.98s (batch: 1.95s, save: 0.03s) +[05/24 16:06:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3 +[05/24 16:06:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3: 1/1 successful episodes +[05/24 16:06:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 17 (index 1/83) +[05/24 16:06:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 17 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:06:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_17_ceiling.xml +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=17, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:06:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 17 episode 0/1 collected=0/3 +[05/24 16:06:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:06:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 17 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 16:06:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_17: 1 episodes +[05/24 16:06:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 16:06:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:06:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_17 +[05/24 16:06:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_17 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:06:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_17 +[05/24 16:06:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 17: 1/1 successful episodes +[05/24 16:06:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 36 (index 2/83) +[05/24 16:06:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 36 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:06:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_36_ceiling.xml +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=36, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray' +[05/24 16:06:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 36 episode 0/2 collected=0/3 +[05/24 16:06:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:06:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 36 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=True +[05/24 16:07:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_36_ceiling.xml +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=36, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 16:07:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 36 episode 1/2 collected=1/3 +[05/24 16:07:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 36 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True +[05/24 16:07:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_36: 2 episodes +[05/24 16:07:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:07:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_36 +[05/24 16:07:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_36 in 4.25s (batch: 4.19s, save: 0.06s) +[05/24 16:07:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_36 +[05/24 16:07:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 36: 2/2 successful episodes +[05/24 16:07:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 47 (index 3/83) +[05/24 16:07:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 47 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:07:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_47_ceiling.xml +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=47, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:07:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 47 episode 0/1 collected=0/3 +[05/24 16:07:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 47 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_47: 1 episodes +[05/24 16:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:07:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_47 +[05/24 16:07:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_47 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:07:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_47 +[05/24 16:07:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 47: 1/1 successful episodes +[05/24 16:07:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 70 (index 4/83) +[05/24 16:07:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 70 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:07:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_70_ceiling.xml +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=70, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:07:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 70 episode 0/1 collected=0/3 +[05/24 16:07:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:08:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 70 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=False +[05/24 16:08:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_70: 1 episodes +[05/24 16:08:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_70 +[05/24 16:08:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_70 in 2.27s (batch: 2.19s, save: 0.09s) +[05/24 16:08:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_70 +[05/24 16:08:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 70: 0/1 successful episodes +[05/24 16:08:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 75 (index 5/83) +[05/24 16:08:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 75 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:08:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_75_ceiling.xml +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=75, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:09:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 75 episode 0/2 collected=0/3 +[05/24 16:09:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 75 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_2_0_5 completed with success=False +[05/24 16:10:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_75_ceiling.xml +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=75, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:10:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 75 episode 1/2 collected=1/3 +[05/24 16:10:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 75 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:12:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_75: 2 episodes +[05/24 16:12:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_75 +[05/24 16:12:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_75 in 4.79s (batch: 4.60s, save: 0.19s) +[05/24 16:12:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_75 +[05/24 16:12:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 75: 0/2 successful episodes +[05/24 16:12:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 89 (index 6/83) +[05/24 16:12:08 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 89 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:12:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_89_ceiling.xml +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=89, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:12:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 89 episode 0/2 collected=0/3 +[05/24 16:12:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 89 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:12:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_89_ceiling.xml +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=89, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray bowl' +[05/24 16:12:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 89 episode 1/2 collected=1/3 +[05/24 16:12:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 89 episode 1 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=True +[05/24 16:12:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_89: 2 episodes +[05/24 16:12:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:12:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_89 +[05/24 16:12:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_89 in 3.96s (batch: 3.91s, save: 0.05s) +[05/24 16:12:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_89 +[05/24 16:12:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 89: 2/2 successful episodes +[05/24 16:12:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 98 (index 7/83) +[05/24 16:12:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 98 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_98_ceiling.xml +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=98, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:12:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 98 episode 0/1 collected=0/3 +[05/24 16:12:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 98 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:14:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_98: 1 episodes +[05/24 16:14:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:14:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_98 +[05/24 16:14:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_98 in 2.14s (batch: 2.05s, save: 0.08s) +[05/24 16:14:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_98 +[05/24 16:14:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 98: 0/1 successful episodes +[05/24 16:14:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 104 (index 8/83) +[05/24 16:14:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 104 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:14:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_104_ceiling.xml +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=104, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:14:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 104 episode 0/2 collected=0/3 +[05/24 16:14:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 104 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_8 completed with success=True +[05/24 16:14:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_104_ceiling.xml +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=104, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot' +[05/24 16:14:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 104 episode 1/2 collected=1/3 +[05/24 16:14:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 104 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_8 completed with success=True +[05/24 16:14:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_104: 2 episodes +[05/24 16:14:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:14:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:14:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_104 +[05/24 16:14:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_104 in 3.72s (batch: 3.67s, save: 0.05s) +[05/24 16:14:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_104 +[05/24 16:14:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 104: 2/2 successful episodes +[05/24 16:14:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 113 (index 9/83) +[05/24 16:14:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 113 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:14:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_113_ceiling.xml +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=113, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:14:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 113 episode 0/2 collected=0/3 +[05/24 16:14:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 113 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 16:15:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_113_ceiling.xml +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=113, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green ladle with handle' +[05/24 16:15:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 113 episode 1/2 collected=1/3 +[05/24 16:15:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 113 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 16:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_113: 2 episodes +[05/24 16:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 101 timesteps +[05/24 16:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_113 +[05/24 16:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_113 in 4.49s (batch: 4.38s, save: 0.12s) +[05/24 16:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_113 +[05/24 16:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 113: 1/2 successful episodes +[05/24 16:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 129 (index 10/83) +[05/24 16:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 129 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_129_ceiling.xml +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=129, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 16:16:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 129 episode 0/2 collected=0/3 +[05/24 16:16:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 129 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 16:18:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_129_ceiling.xml +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=129, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:18:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 129 episode 1/2 collected=1/3 +[05/24 16:18:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 129 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 16:18:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_129: 2 episodes +[05/24 16:18:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 144 timesteps +[05/24 16:18:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_129 +[05/24 16:18:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_129 in 4.22s (batch: 4.09s, save: 0.12s) +[05/24 16:18:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_129 +[05/24 16:18:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 129: 1/2 successful episodes +[05/24 16:18:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 139 (index 11/83) +[05/24 16:18:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 139 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:18:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_139_ceiling.xml +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=139, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 16:18:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 139 episode 0/1 collected=0/3 +[05/24 16:18:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 139 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_2_0_6 completed with success=False +[05/24 16:20:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_139: 1 episodes +[05/24 16:20:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_139 +[05/24 16:20:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_139 in 2.14s (batch: 2.05s, save: 0.08s) +[05/24 16:20:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_139 +[05/24 16:20:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 139: 0/1 successful episodes +[05/24 16:20:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 160 (index 12/83) +[05/24 16:20:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 160 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:20:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_160_ceiling.xml +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=160, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 16:20:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 160 episode 0/1 collected=0/3 +[05/24 16:20:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 160 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:22:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_160: 1 episodes +[05/24 16:22:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_160 +[05/24 16:22:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_160 in 2.17s (batch: 2.09s, save: 0.09s) +[05/24 16:22:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_160 +[05/24 16:22:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 160: 0/1 successful episodes +[05/24 16:22:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 164 (index 13/83) +[05/24 16:22:10 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:22:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_164_ceiling.xml +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=164, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:22:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 164 episode 0/2 collected=0/3 +[05/24 16:22:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 164 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 16:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_164_ceiling.xml +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=164, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 16:23:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 164 episode 1/2 collected=1/3 +[05/24 16:23:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 164 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:25:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_164: 2 episodes +[05/24 16:25:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_164 +[05/24 16:25:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_164 in 4.56s (batch: 4.39s, save: 0.16s) +[05/24 16:25:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_164 +[05/24 16:25:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 164: 0/2 successful episodes +[05/24 16:25:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 167 (index 14/83) +[05/24 16:25:15 Worker 0 INFO json_eval_runner.py:278] Loaded 3 episodes for house 167 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:25:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_167_ceiling.xml +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:25:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 167 episode 0/3 collected=0/3 +[05/24 16:25:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 167 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_9 completed with success=True +[05/24 16:25:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_167_ceiling.xml +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red ripe tomato' +[05/24 16:26:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 167 episode 1/3 collected=1/3 +[05/24 16:26:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 167 episode 1 object tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_8 completed with success=False +[05/24 16:27:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_167_ceiling.xml +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:27:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 167 episode 2/3 collected=2/3 +[05/24 16:27:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 167 episode 2 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 16:27:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_167: 3 episodes +[05/24 16:27:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 181 timesteps +[05/24 16:27:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:57 Worker 0 INFO save_utils.py:703] Saved 3 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_167 +[05/24 16:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_167 in 6.31s (batch: 6.15s, save: 0.16s) +[05/24 16:27:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_167 +[05/24 16:27:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 167: 2/3 successful episodes +[05/24 16:27:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 183 (index 15/83) +[05/24 16:27:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 183 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:27:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_183_ceiling.xml +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=183, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the simple matte blue bowl' +[05/24 16:27:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 183 episode 0/1 collected=0/3 +[05/24 16:27:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 183 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=True +[05/24 16:28:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_183: 1 episodes +[05/24 16:28:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 140 timesteps +[05/24 16:28:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_183 +[05/24 16:28:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_183 in 2.16s (batch: 2.11s, save: 0.05s) +[05/24 16:28:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_183 +[05/24 16:28:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 183: 1/1 successful episodes +[05/24 16:28:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 194 (index 16/83) +[05/24 16:28:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 194 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:28:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_194_ceiling.xml +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=194, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black cooking pot' +[05/24 16:28:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 194 episode 0/2 collected=0/3 +[05/24 16:28:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 194 episode 0 object pot_327edb884d62930ab5c6e8fce062daba_1_0_6 completed with success=True +[05/24 16:29:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_194_ceiling.xml +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=194, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentation' +[05/24 16:29:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 194 episode 1/2 collected=1/3 +[05/24 16:29:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 194 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 16:31:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_194: 2 episodes +[05/24 16:31:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 352 timesteps +[05/24 16:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_194 +[05/24 16:31:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_194 in 4.61s (batch: 4.46s, save: 0.15s) +[05/24 16:31:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_194 +[05/24 16:31:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 194: 1/2 successful episodes +[05/24 16:31:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 197 (index 17/83) +[05/24 16:31:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 197 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:31:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_197_ceiling.xml +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=197, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:31:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 197 episode 0/1 collected=0/3 +[05/24 16:31:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 197 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:32:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_197: 1 episodes +[05/24 16:32:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_197 +[05/24 16:32:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_197 in 2.21s (batch: 2.12s, save: 0.09s) +[05/24 16:32:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_197 +[05/24 16:32:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 197: 0/1 successful episodes +[05/24 16:32:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 216 (index 18/83) +[05/24 16:32:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:32:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_216_ceiling.xml +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=216, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 16:32:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 216 episode 0/1 collected=0/3 +[05/24 16:32:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 216 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True +[05/24 16:32:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_216: 1 episodes +[05/24 16:32:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:33:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_216 +[05/24 16:33:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_216 in 1.94s (batch: 1.91s, save: 0.03s) +[05/24 16:33:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_216 +[05/24 16:33:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 216: 1/1 successful episodes +[05/24 16:33:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 230 (index 19/83) +[05/24 16:33:01 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 230 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:33:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_230_ceiling.xml +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=230, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 16:33:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 230 episode 0/2 collected=0/3 +[05/24 16:33:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 230 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:34:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_230_ceiling.xml +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=230, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:34:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 230 episode 1/2 collected=1/3 +[05/24 16:34:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 230 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:34:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_230: 2 episodes +[05/24 16:34:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:34:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 143 timesteps +[05/24 16:34:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_230 +[05/24 16:34:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_230 in 4.71s (batch: 4.57s, save: 0.14s) +[05/24 16:34:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_230 +[05/24 16:34:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 230: 1/2 successful episodes +[05/24 16:34:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 244 (index 20/83) +[05/24 16:34:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 244 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:34:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_244_ceiling.xml +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=244, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:34:55 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown cardboard box with flaps' +[05/24 16:34:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 244 episode 0/1 collected=0/3 +[05/24 16:34:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 244 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_4 completed with success=False +[05/24 16:36:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_244: 1 episodes +[05/24 16:36:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_244 +[05/24 16:36:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_244 in 2.42s (batch: 2.33s, save: 0.10s) +[05/24 16:36:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_244 +[05/24 16:36:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 244: 0/1 successful episodes +[05/24 16:36:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 249 (index 21/83) +[05/24 16:36:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 249 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:36:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_249_ceiling.xml +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=249, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:36:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 249 episode 0/2 collected=0/3 +[05/24 16:36:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 249 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:37:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_249_ceiling.xml +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=249, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with bronze pump' +[05/24 16:37:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 249 episode 1/2 collected=1/3 +[05/24 16:37:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 249 episode 1 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_2 completed with success=False +[05/24 16:39:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_249: 2 episodes +[05/24 16:39:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:13 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_249 +[05/24 16:39:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_249 in 4.40s (batch: 4.23s, save: 0.17s) +[05/24 16:39:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_249 +[05/24 16:39:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 249: 0/2 successful episodes +[05/24 16:39:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 261 (index 22/83) +[05/24 16:39:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 261 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:39:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_261_ceiling.xml +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=261, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 104 objects +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:39:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 261 episode 0/1 collected=0/3 +[05/24 16:39:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 261 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_8 completed with success=True +[05/24 16:39:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_261: 1 episodes +[05/24 16:39:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:39:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_261 +[05/24 16:39:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_261 in 1.89s (batch: 1.86s, save: 0.03s) +[05/24 16:39:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_261 +[05/24 16:39:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 261: 1/1 successful episodes +[05/24 16:39:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 282 (index 23/83) +[05/24 16:39:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_282_ceiling.xml +[05/24 16:39:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=282, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:39:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:39:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 282 episode 0/2 collected=0/3 +[05/24 16:39:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 282 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:39:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_282_ceiling.xml +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=282, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:39:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 282 episode 1/2 collected=1/3 +[05/24 16:39:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 282 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=False +[05/24 16:41:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_282: 2 episodes +[05/24 16:41:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 61 timesteps +[05/24 16:41:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_282 +[05/24 16:41:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_282 in 4.34s (batch: 4.23s, save: 0.11s) +[05/24 16:41:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_282 +[05/24 16:41:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 282: 1/2 successful episodes +[05/24 16:41:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 292 (index 24/83) +[05/24 16:41:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:41:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_292_ceiling.xml +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=292, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 16:41:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 292 episode 0/1 collected=0/3 +[05/24 16:41:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 292 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 16:41:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_292: 1 episodes +[05/24 16:41:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 125 timesteps +[05/24 16:41:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_292 +[05/24 16:41:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_292 in 2.13s (batch: 2.08s, save: 0.05s) +[05/24 16:41:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_292 +[05/24 16:41:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 292: 1/1 successful episodes +[05/24 16:41:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 310 (index 25/83) +[05/24 16:41:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 310 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:41:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_310_ceiling.xml +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=310, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:41:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 310 episode 0/2 collected=0/3 +[05/24 16:41:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 310 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 16:42:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_310_ceiling.xml +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=310, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:42:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 310 episode 1/2 collected=1/3 +[05/24 16:42:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 310 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_7 completed with success=True +[05/24 16:42:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_310: 2 episodes +[05/24 16:42:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:42:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 219 timesteps +[05/24 16:43:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_310 +[05/24 16:43:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_310 in 4.20s (batch: 4.13s, save: 0.08s) +[05/24 16:43:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_310 +[05/24 16:43:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 310: 2/2 successful episodes +[05/24 16:43:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 317 (index 26/83) +[05/24 16:43:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 317 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:43:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_317_ceiling.xml +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=317, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:43:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 317 episode 0/1 collected=0/3 +[05/24 16:43:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 317 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=True +[05/24 16:43:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_317: 1 episodes +[05/24 16:43:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:43:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_317 +[05/24 16:43:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_317 in 2.05s (batch: 2.02s, save: 0.03s) +[05/24 16:43:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_317 +[05/24 16:43:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 317: 1/1 successful episodes +[05/24 16:43:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 331 (index 27/83) +[05/24 16:43:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:43:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_331_ceiling.xml +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=331, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:43:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 331 episode 0/2 collected=0/3 +[05/24 16:43:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 331 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:44:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_331_ceiling.xml +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=331, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:44:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 331 episode 1/2 collected=1/3 +[05/24 16:44:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 331 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_331: 2 episodes +[05/24 16:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_331 +[05/24 16:44:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_331 in 4.17s (batch: 4.05s, save: 0.11s) +[05/24 16:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_331 +[05/24 16:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 331: 1/2 successful episodes +[05/24 16:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 334 (index 28/83) +[05/24 16:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_334_ceiling.xml +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=334, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:44:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 334 episode 0/1 collected=0/3 +[05/24 16:44:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 334 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:45:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_334: 1 episodes +[05/24 16:45:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:45:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_334 +[05/24 16:45:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_334 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:45:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_334 +[05/24 16:45:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 334: 1/1 successful episodes +[05/24 16:45:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 352 (index 29/83) +[05/24 16:45:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 352 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:45:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_352_ceiling.xml +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=352, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal fork' +[05/24 16:45:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 352 episode 0/1 collected=0/3 +[05/24 16:45:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 352 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:46:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_352: 1 episodes +[05/24 16:46:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_352 +[05/24 16:46:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_352 in 2.16s (batch: 2.07s, save: 0.09s) +[05/24 16:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_352 +[05/24 16:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 352: 0/1 successful episodes +[05/24 16:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 363 (index 30/83) +[05/24 16:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_363_ceiling.xml +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=363, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:46:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 363 episode 0/2 collected=0/3 +[05/24 16:46:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 363 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:47:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_363_ceiling.xml +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=363, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:47:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 363 episode 1/2 collected=1/3 +[05/24 16:47:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 363 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 16:48:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_363: 2 episodes +[05/24 16:48:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:48:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_363 +[05/24 16:48:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_363 in 4.10s (batch: 3.99s, save: 0.11s) +[05/24 16:48:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_363 +[05/24 16:48:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 363: 1/2 successful episodes +[05/24 16:48:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 370 (index 31/83) +[05/24 16:48:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 370 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:48:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_370_ceiling.xml +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=370, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:48:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 370 episode 0/1 collected=0/3 +[05/24 16:48:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 370 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_9 completed with success=True +[05/24 16:48:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_370: 1 episodes +[05/24 16:48:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:48:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_370 +[05/24 16:48:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_370 in 1.87s (batch: 1.84s, save: 0.03s) +[05/24 16:48:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_370 +[05/24 16:48:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 370: 1/1 successful episodes +[05/24 16:48:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 376 (index 32/83) +[05/24 16:48:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 376 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:48:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_376_ceiling.xml +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 16:48:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 376 episode 0/2 collected=0/3 +[05/24 16:48:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 376 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=True +[05/24 16:48:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_376_ceiling.xml +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the apple' +[05/24 16:48:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 376 episode 1/2 collected=1/3 +[05/24 16:48:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 376 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 16:50:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_376: 2 episodes +[05/24 16:50:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:50:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_376 +[05/24 16:50:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_376 in 4.14s (batch: 4.02s, save: 0.12s) +[05/24 16:50:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_376 +[05/24 16:50:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 376: 1/2 successful episodes +[05/24 16:50:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 395 (index 33/83) +[05/24 16:50:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 395 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:50:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_395_ceiling.xml +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=395, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:50:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 395 episode 0/2 collected=0/3 +[05/24 16:50:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 395 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:50:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_395_ceiling.xml +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=395, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:50:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 395 episode 1/2 collected=1/3 +[05/24 16:50:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 395 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:50:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_395: 2 episodes +[05/24 16:50:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 32 timesteps +[05/24 16:50:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_395 +[05/24 16:50:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_395 in 3.86s (batch: 3.81s, save: 0.05s) +[05/24 16:50:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_395 +[05/24 16:50:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 395: 2/2 successful episodes +[05/24 16:50:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 406 (index 34/83) +[05/24 16:50:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:50:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_406_ceiling.xml +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=406, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal cooking pot' +[05/24 16:50:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 406 episode 0/1 collected=0/3 +[05/24 16:50:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 406 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 16:52:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_406: 1 episodes +[05/24 16:52:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_406 +[05/24 16:52:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_406 in 2.15s (batch: 2.06s, save: 0.09s) +[05/24 16:52:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_406 +[05/24 16:52:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 406: 0/1 successful episodes +[05/24 16:52:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 425 (index 35/83) +[05/24 16:52:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 425 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:52:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_425_ceiling.xml +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=425, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:52:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 425 episode 0/1 collected=0/3 +[05/24 16:52:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 425 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:52:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_425: 1 episodes +[05/24 16:52:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:52:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_425 +[05/24 16:52:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_425 in 2.08s (batch: 2.04s, save: 0.04s) +[05/24 16:52:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_425 +[05/24 16:52:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 425: 1/1 successful episodes +[05/24 16:52:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 427 (index 36/83) +[05/24 16:52:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 427 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:52:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_427_ceiling.xml +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=427, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 16:52:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 427 episode 0/2 collected=0/3 +[05/24 16:52:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 427 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:53:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_427_ceiling.xml +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=427, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:53:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 427 episode 1/2 collected=1/3 +[05/24 16:53:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 427 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:54:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_427: 2 episodes +[05/24 16:54:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:54:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_427 +[05/24 16:54:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_427 in 4.12s (batch: 4.01s, save: 0.11s) +[05/24 16:54:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_427 +[05/24 16:54:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 427: 1/2 successful episodes +[05/24 16:54:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 446 (index 37/83) +[05/24 16:54:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 446 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:54:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_446_ceiling.xml +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=446, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:54:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 446 episode 0/2 collected=0/3 +[05/24 16:54:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 446 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 16:54:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_446_ceiling.xml +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=446, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:54:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 446 episode 1/2 collected=1/3 +[05/24 16:54:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 446 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_446: 2 episodes +[05/24 16:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 66 timesteps +[05/24 16:55:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_446 +[05/24 16:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_446 in 4.55s (batch: 4.43s, save: 0.12s) +[05/24 16:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_446 +[05/24 16:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 446: 1/2 successful episodes +[05/24 16:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 447 (index 38/83) +[05/24 16:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 447 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_447_ceiling.xml +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=447, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 16:56:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 447 episode 0/1 collected=0/3 +[05/24 16:56:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 447 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_2_0_8 completed with success=True +[05/24 16:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_447: 1 episodes +[05/24 16:56:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_447 +[05/24 16:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_447 in 1.91s (batch: 1.87s, save: 0.03s) +[05/24 16:56:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_447 +[05/24 16:56:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 447: 1/1 successful episodes +[05/24 16:56:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 473 (index 39/83) +[05/24 16:56:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 473 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:56:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_473_ceiling.xml +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=473, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 16:56:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 473 episode 0/2 collected=0/3 +[05/24 16:56:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 473 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_3_0_6 completed with success=True +[05/24 16:56:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_473_ceiling.xml +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=473, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentality' +[05/24 16:57:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 473 episode 1/2 collected=1/3 +[05/24 16:57:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 473 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 17:00:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_473: 2 episodes +[05/24 17:00:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:00:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:36 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_473 +[05/24 17:00:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_473 in 4.23s (batch: 4.12s, save: 0.11s) +[05/24 17:00:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_473 +[05/24 17:00:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 473: 1/2 successful episodes +[05/24 17:00:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 481 (index 40/83) +[05/24 17:00:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:00:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_481_ceiling.xml +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=481, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 6 objects +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle' +[05/24 17:00:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 481 episode 0/1 collected=0/3 +[05/24 17:00:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 481 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=True +[05/24 17:00:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_481: 1 episodes +[05/24 17:00:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:00:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_481 +[05/24 17:00:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_481 in 1.90s (batch: 1.87s, save: 0.03s) +[05/24 17:00:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_481 +[05/24 17:00:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 481: 1/1 successful episodes +[05/24 17:00:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 495 (index 41/83) +[05/24 17:00:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:00:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_495_ceiling.xml +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=495, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:00:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 495 episode 0/1 collected=0/3 +[05/24 17:00:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 495 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_11 completed with success=False +[05/24 17:02:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_495: 1 episodes +[05/24 17:02:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_495 +[05/24 17:02:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_495 in 2.26s (batch: 2.17s, save: 0.09s) +[05/24 17:02:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_495 +[05/24 17:02:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 495: 0/1 successful episodes +[05/24 17:02:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 512 (index 42/83) +[05/24 17:02:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:02:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_512_ceiling.xml +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=512, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 84 objects +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box' +[05/24 17:02:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 512 episode 0/2 collected=0/3 +[05/24 17:02:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 512 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_10 completed with success=False +[05/24 17:03:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_512_ceiling.xml +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=512, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 84 objects +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 17:03:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 512 episode 1/2 collected=1/3 +[05/24 17:03:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 512 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_512: 2 episodes +[05/24 17:04:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:04:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:04:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_512 +[05/24 17:04:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_512 in 4.10s (batch: 3.97s, save: 0.13s) +[05/24 17:04:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_512 +[05/24 17:04:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 512: 1/2 successful episodes +[05/24 17:04:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 513 (index 43/83) +[05/24 17:04:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 513 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:04:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_513_ceiling.xml +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=513, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 17:04:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 513 episode 0/1 collected=0/3 +[05/24 17:04:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 513 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 17:04:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_513: 1 episodes +[05/24 17:04:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:04:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_513 +[05/24 17:04:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_513 in 2.07s (batch: 2.04s, save: 0.03s) +[05/24 17:04:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_513 +[05/24 17:04:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 513: 1/1 successful episodes +[05/24 17:04:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 528 (index 44/83) +[05/24 17:04:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 528 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:04:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_528_ceiling.xml +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=528, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 17:04:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 528 episode 0/1 collected=0/3 +[05/24 17:04:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 528 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False +[05/24 17:05:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_528: 1 episodes +[05/24 17:05:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_528 +[05/24 17:05:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_528 in 2.24s (batch: 2.15s, save: 0.09s) +[05/24 17:06:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_528 +[05/24 17:06:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 528: 0/1 successful episodes +[05/24 17:06:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 541 (index 45/83) +[05/24 17:06:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:06:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_541_ceiling.xml +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=541, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 132 objects +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the fork' +[05/24 17:06:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 541 episode 0/2 collected=0/3 +[05/24 17:06:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 541 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_4_0_2 completed with success=True +[05/24 17:06:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_541_ceiling.xml +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=541, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 132 objects +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 17:06:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 541 episode 1/2 collected=1/3 +[05/24 17:06:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 541 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 17:07:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_541: 2 episodes +[05/24 17:07:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:07:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:07:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_541 +[05/24 17:07:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_541 in 3.81s (batch: 3.76s, save: 0.06s) +[05/24 17:07:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_541 +[05/24 17:07:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 541: 2/2 successful episodes +[05/24 17:07:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 552 (index 46/83) +[05/24 17:07:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:07:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_552_ceiling.xml +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=552, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:07:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 552 episode 0/2 collected=0/3 +[05/24 17:07:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 552 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_8 completed with success=True +[05/24 17:07:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_552_ceiling.xml +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=552, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:07:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 552 episode 1/2 collected=1/3 +[05/24 17:07:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 552 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_8 completed with success=False +[05/24 17:08:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_552: 2 episodes +[05/24 17:08:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:08:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_552 +[05/24 17:08:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_552 in 4.36s (batch: 4.25s, save: 0.11s) +[05/24 17:08:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_552 +[05/24 17:08:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 552: 1/2 successful episodes +[05/24 17:08:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 554 (index 47/83) +[05/24 17:08:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:08:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_554_ceiling.xml +[05/24 17:08:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=554, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:08:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:08:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 554 episode 0/1 collected=0/3 +[05/24 17:08:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 554 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:10:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_554: 1 episodes +[05/24 17:10:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_554 +[05/24 17:10:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_554 in 2.34s (batch: 2.24s, save: 0.10s) +[05/24 17:10:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_554 +[05/24 17:10:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 554: 0/1 successful episodes +[05/24 17:10:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 574 (index 48/83) +[05/24 17:10:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 574 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:10:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_574_ceiling.xml +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=574, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:10:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 574 episode 0/1 collected=0/3 +[05/24 17:10:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 574 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 17:10:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_574: 1 episodes +[05/24 17:10:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:10:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_574 +[05/24 17:10:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_574 in 2.02s (batch: 1.99s, save: 0.03s) +[05/24 17:10:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_574 +[05/24 17:10:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 574: 1/1 successful episodes +[05/24 17:10:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 576 (index 49/83) +[05/24 17:10:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:10:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_576_ceiling.xml +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=576, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:10:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 576 episode 0/2 collected=0/3 +[05/24 17:10:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 576 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_7 completed with success=True +[05/24 17:11:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_576_ceiling.xml +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=576, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 17:11:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 576 episode 1/2 collected=1/3 +[05/24 17:11:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 576 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_8 completed with success=True +[05/24 17:11:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_576: 2 episodes +[05/24 17:11:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 223 timesteps +[05/24 17:11:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:11:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_576 +[05/24 17:11:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_576 in 4.13s (batch: 4.05s, save: 0.08s) +[05/24 17:11:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_576 +[05/24 17:11:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 576: 2/2 successful episodes +[05/24 17:11:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 598 (index 50/83) +[05/24 17:11:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:11:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_598_ceiling.xml +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=598, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 17:11:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 598 episode 0/1 collected=0/3 +[05/24 17:11:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 598 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=True +[05/24 17:12:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_598: 1 episodes +[05/24 17:12:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 17:12:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_598 +[05/24 17:12:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_598 in 1.89s (batch: 1.87s, save: 0.02s) +[05/24 17:12:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_598 +[05/24 17:12:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 598: 1/1 successful episodes +[05/24 17:12:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 599 (index 51/83) +[05/24 17:12:10 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:12:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_599_ceiling.xml +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=599, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 17:12:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 599 episode 0/2 collected=0/3 +[05/24 17:12:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 599 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:13:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_599_ceiling.xml +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=599, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray bowl' +[05/24 17:13:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 599 episode 1/2 collected=1/3 +[05/24 17:13:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 599 episode 1 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=False +[05/24 17:14:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_599: 2 episodes +[05/24 17:14:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_599 +[05/24 17:14:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_599 in 4.23s (batch: 4.07s, save: 0.16s) +[05/24 17:14:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_599 +[05/24 17:14:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 599: 0/2 successful episodes +[05/24 17:14:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 616 (index 52/83) +[05/24 17:14:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 616 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:14:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_616_ceiling.xml +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=616, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black mug' +[05/24 17:14:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 616 episode 0/1 collected=0/3 +[05/24 17:14:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 616 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:15:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_616: 1 episodes +[05/24 17:15:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:15:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_616 +[05/24 17:15:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_616 in 2.26s (batch: 2.17s, save: 0.08s) +[05/24 17:15:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_616 +[05/24 17:15:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 616: 0/1 successful episodes +[05/24 17:15:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 629 (index 53/83) +[05/24 17:15:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 629 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:15:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_629_ceiling.xml +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=629, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark pot' +[05/24 17:15:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 629 episode 0/2 collected=0/3 +[05/24 17:15:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 629 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=True +[05/24 17:16:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_629_ceiling.xml +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=629, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:16:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 629 episode 1/2 collected=1/3 +[05/24 17:16:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 629 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 17:16:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_629: 2 episodes +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 123 timesteps +[05/24 17:16:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:16:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_629 +[05/24 17:16:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_629 in 3.79s (batch: 3.73s, save: 0.06s) +[05/24 17:16:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_629 +[05/24 17:16:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 629: 2/2 successful episodes +[05/24 17:16:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 643 (index 54/83) +[05/24 17:16:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 643 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:16:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_643_ceiling.xml +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=643, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:16:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 643 episode 0/2 collected=0/3 +[05/24 17:16:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 643 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_8 completed with success=True +[05/24 17:16:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_643_ceiling.xml +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=643, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 17:16:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 643 episode 1/2 collected=1/3 +[05/24 17:16:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 643 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_8 completed with success=False +[05/24 17:18:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_643: 2 episodes +[05/24 17:18:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:18:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:18:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_643 +[05/24 17:18:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_643 in 4.19s (batch: 4.08s, save: 0.11s) +[05/24 17:18:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_643 +[05/24 17:18:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 643: 1/2 successful episodes +[05/24 17:18:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 653 (index 55/83) +[05/24 17:18:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 653 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:18:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_653_ceiling.xml +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=653, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 4 objects +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue paper' +[05/24 17:18:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 653 episode 0/1 collected=0/3 +[05/24 17:18:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 653 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:18:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_653: 1 episodes +[05/24 17:18:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 17:18:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_653 +[05/24 17:18:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_653 in 2.07s (batch: 2.03s, save: 0.03s) +[05/24 17:18:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_653 +[05/24 17:18:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 653: 1/1 successful episodes +[05/24 17:18:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 666 (index 56/83) +[05/24 17:18:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:18:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_666_ceiling.xml +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=666, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth cup' +[05/24 17:18:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 666 episode 0/1 collected=0/3 +[05/24 17:18:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 666 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True +[05/24 17:19:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_666: 1 episodes +[05/24 17:19:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 169 timesteps +[05/24 17:19:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_666 +[05/24 17:19:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_666 in 2.03s (batch: 1.98s, save: 0.05s) +[05/24 17:19:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_666 +[05/24 17:19:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 666: 1/1 successful episodes +[05/24 17:19:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 675 (index 57/83) +[05/24 17:19:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 675 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:19:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_675_ceiling.xml +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=675, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:19:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 675 episode 0/2 collected=0/3 +[05/24 17:19:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 675 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True +[05/24 17:19:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_675_ceiling.xml +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=675, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork' +[05/24 17:19:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 675 episode 1/2 collected=1/3 +[05/24 17:19:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 675 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=False +[05/24 17:21:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_675: 2 episodes +[05/24 17:21:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:21:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_675 +[05/24 17:21:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_675 in 4.53s (batch: 4.41s, save: 0.13s) +[05/24 17:21:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_675 +[05/24 17:21:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 675: 1/2 successful episodes +[05/24 17:21:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 691 (index 58/83) +[05/24 17:21:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:21:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_691_ceiling.xml +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=691, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:21:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 691 episode 0/1 collected=0/3 +[05/24 17:21:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 691 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 17:21:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_691: 1 episodes +[05/24 17:21:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:21:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_691 +[05/24 17:21:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_691 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 17:21:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_691 +[05/24 17:21:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 691: 1/1 successful episodes +[05/24 17:21:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 706 (index 59/83) +[05/24 17:21:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:21:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_706_ceiling.xml +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=706, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:21:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 706 episode 0/2 collected=0/3 +[05/24 17:21:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 706 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:21:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_706_ceiling.xml +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=706, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue pot with handles' +[05/24 17:22:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 706 episode 1/2 collected=1/3 +[05/24 17:22:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 706 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 17:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_706: 2 episodes +[05/24 17:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:22:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_706 +[05/24 17:22:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_706 in 4.15s (batch: 4.10s, save: 0.05s) +[05/24 17:22:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_706 +[05/24 17:22:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 706: 2/2 successful episodes +[05/24 17:22:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 707 (index 60/83) +[05/24 17:22:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 707 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:22:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_707_ceiling.xml +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=707, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle with handle' +[05/24 17:22:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 707 episode 0/1 collected=0/3 +[05/24 17:22:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 707 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True +[05/24 17:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_707: 1 episodes +[05/24 17:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_707 +[05/24 17:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_707 in 1.88s (batch: 1.84s, save: 0.03s) +[05/24 17:22:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_707 +[05/24 17:22:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 707: 1/1 successful episodes +[05/24 17:22:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 725 (index 61/83) +[05/24 17:22:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:22:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_725_ceiling.xml +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=725, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:22:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 725 episode 0/1 collected=0/3 +[05/24 17:22:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 725 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:22:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_725: 1 episodes +[05/24 17:22:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:22:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_725 +[05/24 17:22:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_725 in 1.91s (batch: 1.88s, save: 0.03s) +[05/24 17:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_725 +[05/24 17:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 725: 1/1 successful episodes +[05/24 17:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 739 (index 62/83) +[05/24 17:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 739 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_739_ceiling.xml +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=739, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with bronze pump' +[05/24 17:22:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 739 episode 0/2 collected=0/3 +[05/24 17:22:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 739 episode 0 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_2 completed with success=False +[05/24 17:24:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_739_ceiling.xml +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=739, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:24:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 739 episode 1/2 collected=1/3 +[05/24 17:24:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 739 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:25:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_739: 2 episodes +[05/24 17:25:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_739 +[05/24 17:25:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_739 in 4.66s (batch: 4.50s, save: 0.17s) +[05/24 17:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_739 +[05/24 17:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 739: 0/2 successful episodes +[05/24 17:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 750 (index 63/83) +[05/24 17:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_750_ceiling.xml +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=750, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 17:25:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 750 episode 0/1 collected=0/3 +[05/24 17:25:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 750 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_2 completed with success=False +[05/24 17:26:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_750: 1 episodes +[05/24 17:26:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_750 +[05/24 17:26:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_750 in 2.19s (batch: 2.10s, save: 0.09s) +[05/24 17:26:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_750 +[05/24 17:26:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 750: 0/1 successful episodes +[05/24 17:26:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 770 (index 64/83) +[05/24 17:26:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 770 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:26:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_770_ceiling.xml +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=770, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 17:26:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 770 episode 0/1 collected=0/3 +[05/24 17:26:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 770 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=False +[05/24 17:27:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_770: 1 episodes +[05/24 17:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_770 +[05/24 17:27:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_770 in 2.28s (batch: 2.18s, save: 0.09s) +[05/24 17:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_770 +[05/24 17:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 770: 0/1 successful episodes +[05/24 17:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 773 (index 65/83) +[05/24 17:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:27:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_773_ceiling.xml +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=773, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife' +[05/24 17:28:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 773 episode 0/2 collected=0/3 +[05/24 17:28:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 773 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 17:29:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_773_ceiling.xml +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=773, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:29:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 773 episode 1/2 collected=1/3 +[05/24 17:29:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 773 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:30:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_773: 2 episodes +[05/24 17:30:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_773 +[05/24 17:30:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_773 in 4.62s (batch: 4.45s, save: 0.17s) +[05/24 17:30:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_773 +[05/24 17:30:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 773: 0/2 successful episodes +[05/24 17:30:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 793 (index 66/83) +[05/24 17:30:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:30:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_793_ceiling.xml +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=793, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 17:30:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 793 episode 0/1 collected=0/3 +[05/24 17:30:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 793 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 17:30:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_793: 1 episodes +[05/24 17:30:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:30:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_793 +[05/24 17:30:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_793 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 17:30:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_793 +[05/24 17:30:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 793: 1/1 successful episodes +[05/24 17:30:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 806 (index 67/83) +[05/24 17:30:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 806 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:30:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_806_ceiling.xml +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=806, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:30:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 806 episode 0/2 collected=0/3 +[05/24 17:30:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 806 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:31:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_806_ceiling.xml +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=806, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple' +[05/24 17:31:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 806 episode 1/2 collected=1/3 +[05/24 17:31:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 806 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_8 completed with success=False +[05/24 17:32:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_806: 2 episodes +[05/24 17:32:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 21 timesteps +[05/24 17:32:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:32:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_806 +[05/24 17:32:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_806 in 4.45s (batch: 4.34s, save: 0.11s) +[05/24 17:32:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_806 +[05/24 17:32:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 806: 1/2 successful episodes +[05/24 17:32:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 822 (index 68/83) +[05/24 17:32:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:32:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_822_ceiling.xml +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=822, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:32:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 822 episode 0/1 collected=0/3 +[05/24 17:32:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 822 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_6 completed with success=True +[05/24 17:32:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_822: 1 episodes +[05/24 17:32:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:32:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_822 +[05/24 17:32:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_822 in 1.90s (batch: 1.87s, save: 0.03s) +[05/24 17:32:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_822 +[05/24 17:32:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 822: 1/1 successful episodes +[05/24 17:32:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 832 (index 69/83) +[05/24 17:32:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 832 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:32:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_832_ceiling.xml +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=832, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:32:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 832 episode 0/2 collected=0/3 +[05/24 17:32:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 832 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=True +[05/24 17:33:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_832_ceiling.xml +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=832, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:33:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 832 episode 1/2 collected=1/3 +[05/24 17:33:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 832 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:33:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_832: 2 episodes +[05/24 17:33:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/24 17:33:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 17:33:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_832 +[05/24 17:33:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_832 in 3.89s (batch: 3.82s, save: 0.07s) +[05/24 17:33:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_832 +[05/24 17:33:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 832: 2/2 successful episodes +[05/24 17:33:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 847 (index 70/83) +[05/24 17:33:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:33:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_847_ceiling.xml +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=847, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:33:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 847 episode 0/2 collected=0/3 +[05/24 17:33:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 847 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=True +[05/24 17:34:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_847_ceiling.xml +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=847, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cup' +[05/24 17:34:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 847 episode 1/2 collected=1/3 +[05/24 17:34:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 847 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 17:34:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_847: 2 episodes +[05/24 17:34:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:34:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:34:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_847 +[05/24 17:34:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_847 in 3.84s (batch: 3.76s, save: 0.08s) +[05/24 17:34:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_847 +[05/24 17:34:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 847: 2/2 successful episodes +[05/24 17:34:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 856 (index 71/83) +[05/24 17:34:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:34:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_856_ceiling.xml +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=856, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 17:34:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 856 episode 0/1 collected=0/3 +[05/24 17:34:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 856 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=False +[05/24 17:36:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_856: 1 episodes +[05/24 17:36:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_856 +[05/24 17:36:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_856 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 17:36:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_856 +[05/24 17:36:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 856: 0/1 successful episodes +[05/24 17:36:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 871 (index 72/83) +[05/24 17:36:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:36:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_871_ceiling.xml +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=871, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:36:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 871 episode 0/2 collected=0/3 +[05/24 17:36:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 871 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 17:37:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_871_ceiling.xml +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=871, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with green stem' +[05/24 17:37:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 871 episode 1/2 collected=1/3 +[05/24 17:37:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 871 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=True +[05/24 17:37:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_871: 2 episodes +[05/24 17:37:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:37:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_871 +[05/24 17:37:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_871 in 4.25s (batch: 4.14s, save: 0.11s) +[05/24 17:37:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_871 +[05/24 17:37:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 871: 1/2 successful episodes +[05/24 17:37:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 887 (index 73/83) +[05/24 17:37:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 887 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:37:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_887_ceiling.xml +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=887, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:37:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 887 episode 0/2 collected=0/3 +[05/24 17:37:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 887 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:37:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_887_ceiling.xml +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=887, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stainless steel kitchen ladle' +[05/24 17:37:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 887 episode 1/2 collected=1/3 +[05/24 17:37:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 887 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 17:39:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_887: 2 episodes +[05/24 17:39:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:39:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_887 +[05/24 17:39:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_887 in 4.35s (batch: 4.24s, save: 0.11s) +[05/24 17:39:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_887 +[05/24 17:39:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 887: 1/2 successful episodes +[05/24 17:39:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 899 (index 74/83) +[05/24 17:39:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:39:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_899_ceiling.xml +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=899, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handled knife' +[05/24 17:39:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 899 episode 0/2 collected=0/3 +[05/24 17:39:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 899 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_6 completed with success=True +[05/24 17:39:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_899_ceiling.xml +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=899, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 17:39:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 899 episode 1/2 collected=1/3 +[05/24 17:39:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 899 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=False +[05/24 17:41:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_899: 2 episodes +[05/24 17:41:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:41:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_899 +[05/24 17:41:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_899 in 4.47s (batch: 4.36s, save: 0.11s) +[05/24 17:41:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_899 +[05/24 17:41:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 899: 1/2 successful episodes +[05/24 17:41:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 900 (index 75/83) +[05/24 17:41:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:41:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_900_ceiling.xml +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=900, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 111 objects +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:41:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 900 episode 0/1 collected=0/3 +[05/24 17:41:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 900 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_900: 1 episodes +[05/24 17:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:42:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_900 +[05/24 17:42:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_900 in 2.14s (batch: 2.06s, save: 0.09s) +[05/24 17:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_900 +[05/24 17:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 900: 0/1 successful episodes +[05/24 17:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 922 (index 76/83) +[05/24 17:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_922_ceiling.xml +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=922, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker' +[05/24 17:42:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 922 episode 0/2 collected=0/3 +[05/24 17:42:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 922 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:43:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_922_ceiling.xml +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=922, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:43:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 922 episode 1/2 collected=1/3 +[05/24 17:43:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 922 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 17:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_922: 2 episodes +[05/24 17:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:43:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:43:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_922 +[05/24 17:43:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_922 in 3.83s (batch: 3.75s, save: 0.08s) +[05/24 17:43:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_922 +[05/24 17:43:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 922: 2/2 successful episodes +[05/24 17:43:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 924 (index 77/83) +[05/24 17:43:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:43:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_924_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=924, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the remotecontrol' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 924 episode 0/1 collected=0/3 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 924 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 17:43:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_924: 1 episodes +[05/24 17:43:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:43:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_924 +[05/24 17:43:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_924 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 17:43:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_924 +[05/24 17:43:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 924: 1/1 successful episodes +[05/24 17:43:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 943 (index 78/83) +[05/24 17:43:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 943 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:43:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_943_ceiling.xml +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=943, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:43:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 943 episode 0/1 collected=0/3 +[05/24 17:43:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 943 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_2 completed with success=True +[05/24 17:44:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_943: 1 episodes +[05/24 17:44:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:44:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_943 +[05/24 17:44:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_943 in 1.92s (batch: 1.89s, save: 0.03s) +[05/24 17:44:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_943 +[05/24 17:44:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 943: 1/1 successful episodes +[05/24 17:44:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 944 (index 79/83) +[05/24 17:44:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:44:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_944_ceiling.xml +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=944, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 17:44:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 944 episode 0/2 collected=0/3 +[05/24 17:44:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 944 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_5 completed with success=True +[05/24 17:44:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_944_ceiling.xml +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=944, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with pump' +[05/24 17:44:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 944 episode 1/2 collected=1/3 +[05/24 17:44:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 944 episode 1 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_2 completed with success=True +[05/24 17:44:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_944: 2 episodes +[05/24 17:44:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/24 17:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/24 17:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_944 +[05/24 17:45:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_944 in 3.95s (batch: 3.89s, save: 0.07s) +[05/24 17:45:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_944 +[05/24 17:45:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 944: 2/2 successful episodes +[05/24 17:45:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 965 (index 80/83) +[05/24 17:45:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:45:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_965_ceiling.xml +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=965, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:45:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 965 episode 0/2 collected=0/3 +[05/24 17:45:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 965 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:45:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_965_ceiling.xml +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=965, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple with stem' +[05/24 17:45:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 965 episode 1/2 collected=1/3 +[05/24 17:45:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 965 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 17:46:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_965: 2 episodes +[05/24 17:46:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:46:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_965 +[05/24 17:46:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_965 in 4.50s (batch: 4.39s, save: 0.11s) +[05/24 17:47:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_965 +[05/24 17:47:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 965: 1/2 successful episodes +[05/24 17:47:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 968 (index 81/83) +[05/24 17:47:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 968 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:47:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_968_ceiling.xml +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=968, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 17:47:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 968 episode 0/1 collected=0/3 +[05/24 17:47:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 968 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:47:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_968: 1 episodes +[05/24 17:47:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:47:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_968 +[05/24 17:47:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_968 in 2.10s (batch: 2.07s, save: 0.03s) +[05/24 17:47:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_968 +[05/24 17:47:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 968: 1/1 successful episodes +[05/24 17:47:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 984 (index 82/83) +[05/24 17:47:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 984 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_984_ceiling.xml +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=984, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy smooth red apple' +[05/24 17:47:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 984 episode 0/2 collected=0/3 +[05/24 17:47:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 984 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:48:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_984_ceiling.xml +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=984, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:48:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 984 episode 1/2 collected=1/3 +[05/24 17:48:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 984 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:49:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_984: 2 episodes +[05/24 17:49:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_984 +[05/24 17:49:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_984 in 4.36s (batch: 4.19s, save: 0.16s) +[05/24 17:49:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_984 +[05/24 17:49:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 984: 0/2 successful episodes +[05/24 17:49:33 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:49:34 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 17:49:34 INFO pipeline.py:1499] Success count: 74, Total count: 125 +[05/24 17:49:34 INFO pipeline.py:1500] Success rate: 59.20% +Combined 125 episodes from 83 files → /tmp/tmpl1rr8rvv.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/results.csv at-end: 59.2% | oracle: 59.2% of 125 episodes +[2026-05-24 17:49:42,872] INFO MolmoSpaces simulator eval finished: success=74/125 rate=0.5920 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval +[2026-05-24 17:49:42,872] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_01.launcher.log b/pick_msproc/pick_msproc/shards/shard_01.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..5483b42f3e136cc95bc6195a55db895a292b2708 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_01.launcher.log @@ -0,0 +1,2985 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,453] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,515] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,545] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 (source=arg) +[2026-05-24 15:59:56,740] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,042] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:44,140] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:44,141] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,531] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,609] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,648] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 3 episodes each (249 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [5, + 33, + 38, + 49, + 72, + 76, + 91, + 100, + 105, + 115, + 132, + 140, + 161, + 169, + 184, + 198, + 203, + 209, + 219, + 231, + 246, + 253, + 264, + 288, + 295, + 312, + 319, + 332, + 336, + 353, + 364, + 378, + 381, + 398, + 407, + 428, + 429, + 450, + 452, + 474, + 482, + 497, + 514, + 515, + 531, + 542, + 555, + 560, + 577, + 581, + 602, + 610, + 622, + 630, + 644, + 654, + 668, + 676, + 692, + 711, + 726, + 727, + 746, + 752, + 771, + 774, + 795, + 809, + 828, + 834, + 848, + 863, + 874, + 889, + 901, + 902, + 925, + 926, + 945, + 952, + 966, + 971, + 985], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,654] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:46 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,778:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,778] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_5_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 5 episode 0/1 collected=0/3 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.867 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:08,306] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:08,732] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:13,883] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:19,705] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:19,709] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:07:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5: 1 episodes +[05/24 16:07:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:07:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_5 +[05/24 16:07:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5 in 2.60s (batch: 2.51s, save: 0.09s) +[05/24 16:07:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5 +[05/24 16:07:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5: 0/1 successful episodes +[05/24 16:07:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 33 (index 1/83) +[05/24 16:07:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 33 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:07:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_33_ceiling.xml +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=33, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:07:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 33 episode 0/1 collected=0/3 +[05/24 16:07:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 33 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:07:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_33: 1 episodes +[05/24 16:07:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:07:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_33 +[05/24 16:07:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_33 in 2.35s (batch: 2.32s, save: 0.03s) +[05/24 16:07:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_33 +[05/24 16:07:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 33: 1/1 successful episodes +[05/24 16:07:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 38 (index 2/83) +[05/24 16:07:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 38 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:07:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:08:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 38 episode 0/2 collected=0/3 +[05/24 16:08:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:08:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 38 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:08:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:08:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 38 episode 1/2 collected=1/3 +[05/24 16:08:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 38 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:09:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_38: 2 episodes +[05/24 16:09:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 16:09:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_38 +[05/24 16:09:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_38 in 4.70s (batch: 4.58s, save: 0.11s) +[05/24 16:09:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_38 +[05/24 16:09:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 38: 1/2 successful episodes +[05/24 16:09:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 49 (index 3/83) +[05/24 16:09:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 49 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:09:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_49_ceiling.xml +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=49, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:09:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 49 episode 0/1 collected=0/3 +[05/24 16:09:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 49 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:11:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_49: 1 episodes +[05/24 16:11:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:11:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_49 +[05/24 16:11:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_49 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 16:11:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_49 +[05/24 16:11:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 49: 0/1 successful episodes +[05/24 16:11:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 72 (index 4/83) +[05/24 16:11:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 72 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:11:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_72_ceiling.xml +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=72, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:11:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 72 episode 0/1 collected=0/3 +[05/24 16:11:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 72 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:12:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_72: 1 episodes +[05/24 16:12:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_72 +[05/24 16:12:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_72 in 2.41s (batch: 2.33s, save: 0.08s) +[05/24 16:12:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_72 +[05/24 16:12:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 72: 0/1 successful episodes +[05/24 16:12:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 76 (index 5/83) +[05/24 16:12:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 76 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:12:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vessel' +[05/24 16:12:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 76 episode 0/2 collected=0/3 +[05/24 16:12:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 76 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=False +[05/24 16:13:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:13:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 76 episode 1/2 collected=1/3 +[05/24 16:13:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 76 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_2 completed with success=False +[05/24 16:15:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_76: 2 episodes +[05/24 16:15:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_76 +[05/24 16:15:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_76 in 4.87s (batch: 4.70s, save: 0.16s) +[05/24 16:15:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_76 +[05/24 16:15:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 76: 0/2 successful episodes +[05/24 16:15:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 91 (index 6/83) +[05/24 16:15:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 91 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:15:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:15:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 91 episode 0/2 collected=0/3 +[05/24 16:15:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 91 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:16:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:16:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 91 episode 1/2 collected=1/3 +[05/24 16:16:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 91 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=False +[05/24 16:18:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_91: 2 episodes +[05/24 16:18:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_91 +[05/24 16:18:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_91 in 5.42s (batch: 5.25s, save: 0.18s) +[05/24 16:18:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_91 +[05/24 16:18:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 91: 0/2 successful episodes +[05/24 16:18:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 100 (index 7/83) +[05/24 16:18:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:18:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_100_ceiling.xml +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=100, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:18:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 100 episode 0/1 collected=0/3 +[05/24 16:18:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 100 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:19:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_100: 1 episodes +[05/24 16:19:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:19:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_100 +[05/24 16:19:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_100 in 1.97s (batch: 1.87s, save: 0.10s) +[05/24 16:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_100 +[05/24 16:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 100: 0/1 successful episodes +[05/24 16:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 105 (index 8/83) +[05/24 16:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 105 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:19:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 105 episode 0/2 collected=0/3 +[05/24 16:19:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 105 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:21:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:21:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 105 episode 1/2 collected=1/3 +[05/24 16:21:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 105 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_8 completed with success=False +[05/24 16:22:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_105: 2 episodes +[05/24 16:22:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:34 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105 +[05/24 16:22:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_105 in 4.87s (batch: 4.70s, save: 0.17s) +[05/24 16:22:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_105 +[05/24 16:22:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 105: 0/2 successful episodes +[05/24 16:22:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 115 (index 9/83) +[05/24 16:22:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:22:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:22:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 115 episode 0/2 collected=0/3 +[05/24 16:22:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 115 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:23:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:23:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 115 episode 1/2 collected=1/3 +[05/24 16:23:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 115 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_6 completed with success=True +[05/24 16:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_115: 2 episodes +[05/24 16:23:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 110 timesteps +[05/24 16:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 16:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_115 +[05/24 16:23:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_115 in 3.37s (batch: 3.31s, save: 0.06s) +[05/24 16:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_115 +[05/24 16:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 115: 2/2 successful episodes +[05/24 16:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 132 (index 10/83) +[05/24 16:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:23:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 132 episode 0/2 collected=0/3 +[05/24 16:23:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 132 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 16:25:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:25:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 132 episode 1/2 collected=1/3 +[05/24 16:25:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 132 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_132: 2 episodes +[05/24 16:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_132 +[05/24 16:27:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_132 in 5.06s (batch: 4.89s, save: 0.17s) +[05/24 16:27:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_132 +[05/24 16:27:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 132: 0/2 successful episodes +[05/24 16:27:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 140 (index 11/83) +[05/24 16:27:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_140_ceiling.xml +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=140, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 16:27:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 140 episode 0/1 collected=0/3 +[05/24 16:27:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 140 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True +[05/24 16:27:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_140: 1 episodes +[05/24 16:27:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:27:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_140 +[05/24 16:27:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_140 in 2.33s (batch: 2.30s, save: 0.03s) +[05/24 16:27:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_140 +[05/24 16:27:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 140: 1/1 successful episodes +[05/24 16:27:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 161 (index 12/83) +[05/24 16:27:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_161_ceiling.xml +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=161, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent plastic cup' +[05/24 16:27:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 161 episode 0/1 collected=0/3 +[05/24 16:27:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 161 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True +[05/24 16:27:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_161: 1 episodes +[05/24 16:27:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:27:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_161 +[05/24 16:27:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_161 in 2.20s (batch: 2.17s, save: 0.03s) +[05/24 16:27:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_161 +[05/24 16:27:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 161: 1/1 successful episodes +[05/24 16:27:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 169 (index 13/83) +[05/24 16:27:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butter knife' +[05/24 16:27:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 169 episode 0/2 collected=0/3 +[05/24 16:27:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:28:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper pot' +[05/24 16:28:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 169 episode 1/2 collected=1/3 +[05/24 16:28:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 16:29:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_169: 2 episodes +[05/24 16:29:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 16:29:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_169 +[05/24 16:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_169 in 3.86s (batch: 3.73s, save: 0.13s) +[05/24 16:29:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_169 +[05/24 16:29:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 169: 1/2 successful episodes +[05/24 16:29:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 184 (index 14/83) +[05/24 16:29:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:29:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_184_ceiling.xml +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=184, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:29:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 184 episode 0/1 collected=0/3 +[05/24 16:29:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 184 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 completed with success=False +[05/24 16:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_184: 1 episodes +[05/24 16:31:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_184 +[05/24 16:31:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_184 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:31:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_184 +[05/24 16:31:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 184: 0/1 successful episodes +[05/24 16:31:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 198 (index 15/83) +[05/24 16:31:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:31:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_198_ceiling.xml +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=198, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:31:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 198 episode 0/1 collected=0/3 +[05/24 16:31:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 198 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 16:31:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_198: 1 episodes +[05/24 16:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_198 +[05/24 16:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_198 in 2.24s (batch: 2.21s, save: 0.03s) +[05/24 16:31:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_198 +[05/24 16:31:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 198: 1/1 successful episodes +[05/24 16:31:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 203 (index 16/83) +[05/24 16:31:29 Worker 0 INFO json_eval_runner.py:278] Loaded 3 episodes for house 203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:31:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 0/3 collected=0/3 +[05/24 16:31:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 16:31:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:31:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 1/3 collected=1/3 +[05/24 16:31:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 16:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:33:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 2/3 collected=2/3 +[05/24 16:33:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 2 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_3 completed with success=True +[05/24 16:33:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_203: 3 episodes +[05/24 16:33:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 16:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 128 timesteps +[05/24 16:33:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 INFO save_utils.py:703] Saved 3 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_203 +[05/24 16:33:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_203 in 6.90s (batch: 6.72s, save: 0.17s) +[05/24 16:33:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_203 +[05/24 16:33:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 203: 2/3 successful episodes +[05/24 16:33:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 209 (index 17/83) +[05/24 16:33:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 209 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:33:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:33:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 209 episode 0/2 collected=0/3 +[05/24 16:33:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 209 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:33:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml +[05/24 16:33:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:33:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 209 episode 1/2 collected=1/3 +[05/24 16:33:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 209 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 16:34:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_209: 2 episodes +[05/24 16:34:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:34:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 16:34:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_209 +[05/24 16:34:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_209 in 3.32s (batch: 3.27s, save: 0.05s) +[05/24 16:34:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_209 +[05/24 16:34:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 209: 2/2 successful episodes +[05/24 16:34:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 219 (index 18/83) +[05/24 16:34:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:34:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_219_ceiling.xml +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=219, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife' +[05/24 16:34:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 219 episode 0/1 collected=0/3 +[05/24 16:34:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 219 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 16:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_219: 1 episodes +[05/24 16:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_219 +[05/24 16:35:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_219 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:35:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_219 +[05/24 16:35:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 219: 0/1 successful episodes +[05/24 16:35:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 231 (index 19/83) +[05/24 16:35:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:35:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 16:35:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 231 episode 0/2 collected=0/3 +[05/24 16:35:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 231 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:37:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:37:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 231 episode 1/2 collected=1/3 +[05/24 16:37:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 231 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:38:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_231: 2 episodes +[05/24 16:38:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_231 +[05/24 16:38:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_231 in 3.88s (batch: 3.71s, save: 0.17s) +[05/24 16:38:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_231 +[05/24 16:38:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 231: 0/2 successful episodes +[05/24 16:38:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 246 (index 20/83) +[05/24 16:38:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 246 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:38:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_246_ceiling.xml +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=246, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:38:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 246 episode 0/1 collected=0/3 +[05/24 16:38:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 246 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 16:40:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_246: 1 episodes +[05/24 16:40:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_246 +[05/24 16:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_246 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 16:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_246 +[05/24 16:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 246: 0/1 successful episodes +[05/24 16:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 253 (index 21/83) +[05/24 16:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 253 episode 0/2 collected=0/3 +[05/24 16:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 253 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:41:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:41:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 253 episode 1/2 collected=1/3 +[05/24 16:41:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 253 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 16:41:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_253: 2 episodes +[05/24 16:41:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_253 +[05/24 16:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_253 in 3.64s (batch: 3.51s, save: 0.12s) +[05/24 16:41:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_253 +[05/24 16:41:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 253: 1/2 successful episodes +[05/24 16:41:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 264 (index 22/83) +[05/24 16:41:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_264_ceiling.xml +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=264, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:41:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 264 episode 0/1 collected=0/3 +[05/24 16:41:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 264 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:43:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_264: 1 episodes +[05/24 16:43:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_264 +[05/24 16:43:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_264 in 2.42s (batch: 2.33s, save: 0.09s) +[05/24 16:43:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_264 +[05/24 16:43:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 264: 0/1 successful episodes +[05/24 16:43:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 288 (index 23/83) +[05/24 16:43:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:43:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:43:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 288 episode 0/2 collected=0/3 +[05/24 16:43:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 288 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=True +[05/24 16:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 288 episode 1/2 collected=1/3 +[05/24 16:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 288 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_288: 2 episodes +[05/24 16:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_288 +[05/24 16:44:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_288 in 4.74s (batch: 4.63s, save: 0.11s) +[05/24 16:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_288 +[05/24 16:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 288: 1/2 successful episodes +[05/24 16:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 295 (index 24/83) +[05/24 16:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_295_ceiling.xml +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=295, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:44:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 295 episode 0/1 collected=0/3 +[05/24 16:44:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 295 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_295: 1 episodes +[05/24 16:46:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_295 +[05/24 16:46:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_295 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 16:46:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_295 +[05/24 16:46:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 295: 0/1 successful episodes +[05/24 16:46:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 312 (index 25/83) +[05/24 16:46:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:46:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:46:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 312 episode 0/2 collected=0/3 +[05/24 16:46:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 312 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 16:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:47:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 312 episode 1/2 collected=1/3 +[05/24 16:47:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 312 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/24 16:48:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_312: 2 episodes +[05/24 16:48:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_312 +[05/24 16:48:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_312 in 3.86s (batch: 3.69s, save: 0.17s) +[05/24 16:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_312 +[05/24 16:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 312: 0/2 successful episodes +[05/24 16:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 319 (index 26/83) +[05/24 16:48:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_319_ceiling.xml +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=319, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:48:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 319 episode 0/1 collected=0/3 +[05/24 16:48:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 319 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_2 completed with success=True +[05/24 16:49:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_319: 1 episodes +[05/24 16:49:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 16:49:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_319 +[05/24 16:49:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_319 in 1.69s (batch: 1.65s, save: 0.04s) +[05/24 16:49:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_319 +[05/24 16:49:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 319: 1/1 successful episodes +[05/24 16:49:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 332 (index 27/83) +[05/24 16:49:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:49:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:49:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 332 episode 0/2 collected=0/3 +[05/24 16:49:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 332 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:50:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal pot' +[05/24 16:50:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 332 episode 1/2 collected=1/3 +[05/24 16:50:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 332 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True +[05/24 16:50:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_332: 2 episodes +[05/24 16:50:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_332 +[05/24 16:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_332 in 4.69s (batch: 4.58s, save: 0.11s) +[05/24 16:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_332 +[05/24 16:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 332: 1/2 successful episodes +[05/24 16:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 336 (index 28/83) +[05/24 16:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:50:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_336_ceiling.xml +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=336, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 16:50:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 336 episode 0/1 collected=0/3 +[05/24 16:50:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 336 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_3 completed with success=True +[05/24 16:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_336: 1 episodes +[05/24 16:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 16:51:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_336 +[05/24 16:51:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_336 in 2.19s (batch: 2.16s, save: 0.04s) +[05/24 16:51:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_336 +[05/24 16:51:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 336: 1/1 successful episodes +[05/24 16:51:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 353 (index 29/83) +[05/24 16:51:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 353 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:51:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_353_ceiling.xml +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=353, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:51:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 353 episode 0/1 collected=0/3 +[05/24 16:51:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 353 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_353: 1 episodes +[05/24 16:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_353 +[05/24 16:52:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_353 in 2.50s (batch: 2.40s, save: 0.10s) +[05/24 16:52:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_353 +[05/24 16:52:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 353: 0/1 successful episodes +[05/24 16:52:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 364 (index 30/83) +[05/24 16:52:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:52:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 364 episode 0/2 collected=0/3 +[05/24 16:52:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 364 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:52:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 16:52:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 364 episode 1/2 collected=1/3 +[05/24 16:52:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 364 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:54:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_364: 2 episodes +[05/24 16:54:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:54:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_364 +[05/24 16:54:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_364 in 3.64s (batch: 3.53s, save: 0.11s) +[05/24 16:54:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_364 +[05/24 16:54:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 364: 1/2 successful episodes +[05/24 16:54:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 378 (index 31/83) +[05/24 16:54:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:54:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 16:54:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 378 episode 0/2 collected=0/3 +[05/24 16:54:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 378 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 16:54:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender polished metal butter knife' +[05/24 16:54:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 378 episode 1/2 collected=1/3 +[05/24 16:54:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 378 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:54:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_378: 2 episodes +[05/24 16:54:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:54:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_378 +[05/24 16:54:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_378 in 3.31s (batch: 3.25s, save: 0.05s) +[05/24 16:54:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_378 +[05/24 16:54:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 378: 2/2 successful episodes +[05/24 16:54:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 381 (index 32/83) +[05/24 16:54:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:54:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_381_ceiling.xml +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=381, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:54:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 381 episode 0/1 collected=0/3 +[05/24 16:54:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 381 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 16:56:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_381: 1 episodes +[05/24 16:56:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_381 +[05/24 16:56:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_381 in 1.92s (batch: 1.84s, save: 0.09s) +[05/24 16:56:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_381 +[05/24 16:56:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 381: 0/1 successful episodes +[05/24 16:56:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 398 (index 33/83) +[05/24 16:56:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:56:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:56:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 398 episode 0/2 collected=0/3 +[05/24 16:56:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 398 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=True +[05/24 16:56:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:56:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 398 episode 1/2 collected=1/3 +[05/24 16:56:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 398 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 16:57:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_398: 2 episodes +[05/24 16:57:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:57:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_398 +[05/24 16:57:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_398 in 4.63s (batch: 4.52s, save: 0.11s) +[05/24 16:57:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_398 +[05/24 16:57:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 398: 1/2 successful episodes +[05/24 16:57:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 407 (index 34/83) +[05/24 16:57:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:57:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_407_ceiling.xml +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=407, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 111 objects +[05/24 16:57:46 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box' +[05/24 16:57:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 407 episode 0/1 collected=0/3 +[05/24 16:57:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 407 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_4 completed with success=False +[05/24 16:59:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_407: 1 episodes +[05/24 16:59:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:59:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_407 +[05/24 16:59:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_407 in 1.98s (batch: 1.89s, save: 0.09s) +[05/24 16:59:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_407 +[05/24 16:59:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 407: 0/1 successful episodes +[05/24 16:59:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 428 (index 35/83) +[05/24 16:59:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:59:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:59:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 428 episode 0/2 collected=0/3 +[05/24 16:59:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 428 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 16:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml +[05/24 17:00:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:00:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:00:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 428 episode 1/2 collected=1/3 +[05/24 17:00:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 428 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_6 completed with success=False +[05/24 17:01:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_428: 2 episodes +[05/24 17:01:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 17:01:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_428 +[05/24 17:01:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_428 in 3.66s (batch: 3.55s, save: 0.12s) +[05/24 17:01:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_428 +[05/24 17:01:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 428: 1/2 successful episodes +[05/24 17:01:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 429 (index 36/83) +[05/24 17:01:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:01:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_429_ceiling.xml +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=429, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:01:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 429 episode 0/1 collected=0/3 +[05/24 17:01:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 429 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=True +[05/24 17:01:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_429: 1 episodes +[05/24 17:01:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:01:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_429 +[05/24 17:01:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_429 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:01:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_429 +[05/24 17:01:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 429: 1/1 successful episodes +[05/24 17:01:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 450 (index 37/83) +[05/24 17:01:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:01:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:01:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 450 episode 0/2 collected=0/3 +[05/24 17:01:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 450 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_7 completed with success=False +[05/24 17:03:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:03:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 450 episode 1/2 collected=1/3 +[05/24 17:03:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 450 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_8 completed with success=True +[05/24 17:03:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_450: 2 episodes +[05/24 17:03:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:03:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_450 +[05/24 17:03:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_450 in 3.47s (batch: 3.36s, save: 0.11s) +[05/24 17:03:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_450 +[05/24 17:03:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 450: 1/2 successful episodes +[05/24 17:03:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 452 (index 38/83) +[05/24 17:03:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:03:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_452_ceiling.xml +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=452, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stainless steel kitchen ladle' +[05/24 17:03:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 452 episode 0/1 collected=0/3 +[05/24 17:03:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 452 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_452: 1 episodes +[05/24 17:04:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:04:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_452 +[05/24 17:04:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_452 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 17:04:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_452 +[05/24 17:04:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 452: 1/1 successful episodes +[05/24 17:04:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 474 (index 39/83) +[05/24 17:04:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 474 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:04:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutting implement' +[05/24 17:04:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 474 episode 0/2 collected=0/3 +[05/24 17:04:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 474 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 17:05:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:05:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 474 episode 1/2 collected=1/3 +[05/24 17:05:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 474 episode 1 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 17:06:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_474: 2 episodes +[05/24 17:06:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 353 timesteps +[05/24 17:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_474 +[05/24 17:06:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_474 in 4.90s (batch: 4.72s, save: 0.17s) +[05/24 17:06:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_474 +[05/24 17:06:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 474: 1/2 successful episodes +[05/24 17:06:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 482 (index 40/83) +[05/24 17:06:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:06:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_482_ceiling.xml +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 17:06:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 482 episode 0/1 collected=0/3 +[05/24 17:06:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 482 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_3_0_8 completed with success=True +[05/24 17:07:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_482: 1 episodes +[05/24 17:07:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/24 17:07:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_482 +[05/24 17:07:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_482 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 17:07:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_482 +[05/24 17:07:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 482: 1/1 successful episodes +[05/24 17:07:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 497 (index 41/83) +[05/24 17:07:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:07:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_497_ceiling.xml +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=497, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:07:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 497 episode 0/1 collected=0/3 +[05/24 17:07:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 497 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True +[05/24 17:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_497: 1 episodes +[05/24 17:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_497 +[05/24 17:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_497 in 2.28s (batch: 2.25s, save: 0.03s) +[05/24 17:07:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_497 +[05/24 17:07:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 497: 1/1 successful episodes +[05/24 17:07:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 514 (index 42/83) +[05/24 17:07:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:07:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_514_ceiling.xml +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=514, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:07:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 514 episode 0/1 collected=0/3 +[05/24 17:07:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 514 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 17:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_514: 1 episodes +[05/24 17:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:09:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_514 +[05/24 17:09:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_514 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:09:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_514 +[05/24 17:09:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 514: 0/1 successful episodes +[05/24 17:09:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 515 (index 43/83) +[05/24 17:09:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:09:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:09:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 515 episode 0/2 collected=0/3 +[05/24 17:09:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 515 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_8 completed with success=False +[05/24 17:10:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige mug' +[05/24 17:10:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 515 episode 1/2 collected=1/3 +[05/24 17:10:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 515 episode 1 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True +[05/24 17:10:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_515: 2 episodes +[05/24 17:10:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_515 +[05/24 17:10:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_515 in 4.67s (batch: 4.55s, save: 0.12s) +[05/24 17:10:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_515 +[05/24 17:10:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 515: 1/2 successful episodes +[05/24 17:10:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 531 (index 44/83) +[05/24 17:10:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:10:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_531_ceiling.xml +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=531, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple' +[05/24 17:10:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 531 episode 0/1 collected=0/3 +[05/24 17:10:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 531 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=True +[05/24 17:11:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_531: 1 episodes +[05/24 17:11:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 17:11:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_531 +[05/24 17:11:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_531 in 1.64s (batch: 1.58s, save: 0.06s) +[05/24 17:11:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_531 +[05/24 17:11:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 531: 1/1 successful episodes +[05/24 17:11:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 542 (index 45/83) +[05/24 17:11:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:11:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 17:11:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 542 episode 0/2 collected=0/3 +[05/24 17:11:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 542 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:11:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 17:11:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 542 episode 1/2 collected=1/3 +[05/24 17:11:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 542 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 17:11:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_542: 2 episodes +[05/24 17:11:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/24 17:11:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:11:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_542 +[05/24 17:11:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_542 in 4.45s (batch: 4.38s, save: 0.06s) +[05/24 17:11:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_542 +[05/24 17:11:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 542: 2/2 successful episodes +[05/24 17:11:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 555 (index 46/83) +[05/24 17:11:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:11:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:11:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 555 episode 0/2 collected=0/3 +[05/24 17:11:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 555 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:13:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 555 episode 1/2 collected=1/3 +[05/24 17:13:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 555 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:13:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_555: 2 episodes +[05/24 17:13:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 143 timesteps +[05/24 17:13:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_555 +[05/24 17:13:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_555 in 3.61s (batch: 3.49s, save: 0.12s) +[05/24 17:13:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_555 +[05/24 17:13:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 555: 1/2 successful episodes +[05/24 17:13:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 560 (index 47/83) +[05/24 17:13:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:13:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_560_ceiling.xml +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=560, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:13:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 560 episode 0/1 collected=0/3 +[05/24 17:13:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 560 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:13:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_560: 1 episodes +[05/24 17:13:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:14:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_560 +[05/24 17:14:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_560 in 2.22s (batch: 2.19s, save: 0.03s) +[05/24 17:14:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_560 +[05/24 17:14:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 560: 1/1 successful episodes +[05/24 17:14:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 577 (index 48/83) +[05/24 17:14:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:14:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:14:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 577 episode 0/2 collected=0/3 +[05/24 17:14:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 577 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:14:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 17:14:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 577 episode 1/2 collected=1/3 +[05/24 17:14:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 577 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:14:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_577: 2 episodes +[05/24 17:14:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 17:14:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:14:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:34 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_577 +[05/24 17:14:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_577 in 3.27s (batch: 3.21s, save: 0.05s) +[05/24 17:14:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_577 +[05/24 17:14:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 577: 2/2 successful episodes +[05/24 17:14:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 581 (index 49/83) +[05/24 17:14:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 581 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:14:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_581_ceiling.xml +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=581, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 17:14:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 581 episode 0/1 collected=0/3 +[05/24 17:14:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 581 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False +[05/24 17:16:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_581: 1 episodes +[05/24 17:16:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_581 +[05/24 17:16:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_581 in 2.45s (batch: 2.34s, save: 0.11s) +[05/24 17:16:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_581 +[05/24 17:16:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 581: 0/1 successful episodes +[05/24 17:16:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 602 (index 50/83) +[05/24 17:16:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:16:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_602_ceiling.xml +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=602, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:16:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 602 episode 0/1 collected=0/3 +[05/24 17:16:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 602 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_602: 1 episodes +[05/24 17:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_602 +[05/24 17:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_602 in 1.68s (batch: 1.65s, save: 0.03s) +[05/24 17:16:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_602 +[05/24 17:16:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 602: 1/1 successful episodes +[05/24 17:16:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 610 (index 51/83) +[05/24 17:16:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:16:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:16:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 610 episode 0/2 collected=0/3 +[05/24 17:16:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 17:17:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:17:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 610 episode 1/2 collected=1/3 +[05/24 17:17:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:19:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_610: 2 episodes +[05/24 17:19:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_610 +[05/24 17:19:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_610 in 3.82s (batch: 3.64s, save: 0.18s) +[05/24 17:19:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_610 +[05/24 17:19:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 610: 0/2 successful episodes +[05/24 17:19:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 622 (index 52/83) +[05/24 17:19:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:19:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_622_ceiling.xml +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=622, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:19:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 622 episode 0/1 collected=0/3 +[05/24 17:19:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 622 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=True +[05/24 17:19:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_622: 1 episodes +[05/24 17:19:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:19:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_622 +[05/24 17:19:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_622 in 1.67s (batch: 1.64s, save: 0.03s) +[05/24 17:19:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_622 +[05/24 17:19:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 622: 1/1 successful episodes +[05/24 17:19:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 630 (index 53/83) +[05/24 17:19:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 630 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:19:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:19:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 630 episode 0/2 collected=0/3 +[05/24 17:19:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 630 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:19:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:19:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 630 episode 1/2 collected=1/3 +[05/24 17:19:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 630 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 17:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_630: 2 episodes +[05/24 17:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 99 timesteps +[05/24 17:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_630 +[05/24 17:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_630 in 3.66s (batch: 3.52s, save: 0.13s) +[05/24 17:21:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_630 +[05/24 17:21:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 630: 1/2 successful episodes +[05/24 17:21:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 644 (index 54/83) +[05/24 17:21:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:21:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:21:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 644 episode 0/2 collected=0/3 +[05/24 17:21:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 644 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:23:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 644 episode 1/2 collected=1/3 +[05/24 17:23:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 644 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 17:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_644: 2 episodes +[05/24 17:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:24:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:24:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_644 +[05/24 17:24:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_644 in 4.76s (batch: 4.60s, save: 0.16s) +[05/24 17:24:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_644 +[05/24 17:24:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 644: 0/2 successful episodes +[05/24 17:24:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 654 (index 55/83) +[05/24 17:24:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:24:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_654_ceiling.xml +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=654, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:24:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 654 episode 0/1 collected=0/3 +[05/24 17:24:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 654 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:26:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_654: 1 episodes +[05/24 17:26:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_654 +[05/24 17:26:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_654 in 2.45s (batch: 2.36s, save: 0.09s) +[05/24 17:26:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_654 +[05/24 17:26:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 654: 0/1 successful episodes +[05/24 17:26:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 668 (index 56/83) +[05/24 17:26:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:26:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_668_ceiling.xml +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=668, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 17:26:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 668 episode 0/1 collected=0/3 +[05/24 17:26:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 668 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=True +[05/24 17:26:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_668: 1 episodes +[05/24 17:26:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:26:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_668 +[05/24 17:26:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_668 in 2.23s (batch: 2.19s, save: 0.03s) +[05/24 17:26:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_668 +[05/24 17:26:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 668: 1/1 successful episodes +[05/24 17:26:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 676 (index 57/83) +[05/24 17:26:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:26:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 676 episode 0/2 collected=0/3 +[05/24 17:26:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 676 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:28:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:28:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 676 episode 1/2 collected=1/3 +[05/24 17:28:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 676 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 17:29:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_676: 2 episodes +[05/24 17:29:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_676 +[05/24 17:29:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_676 in 5.00s (batch: 4.82s, save: 0.17s) +[05/24 17:29:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_676 +[05/24 17:29:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 676: 0/2 successful episodes +[05/24 17:29:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 692 (index 58/83) +[05/24 17:29:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:29:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_692_ceiling.xml +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=692, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:29:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 692 episode 0/1 collected=0/3 +[05/24 17:29:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 692 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_692: 1 episodes +[05/24 17:30:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_692 +[05/24 17:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_692 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 17:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_692 +[05/24 17:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 692: 1/1 successful episodes +[05/24 17:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 711 (index 59/83) +[05/24 17:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 711 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_711_ceiling.xml +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=711, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal box' +[05/24 17:30:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 711 episode 0/1 collected=0/3 +[05/24 17:30:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 711 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=False +[05/24 17:31:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_711: 1 episodes +[05/24 17:31:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_711 +[05/24 17:31:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_711 in 1.89s (batch: 1.79s, save: 0.09s) +[05/24 17:32:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_711 +[05/24 17:32:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 711: 0/1 successful episodes +[05/24 17:32:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 726 (index 60/83) +[05/24 17:32:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:32:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_726_ceiling.xml +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=726, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:32:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 726 episode 0/1 collected=0/3 +[05/24 17:32:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 726 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:33:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_726: 1 episodes +[05/24 17:33:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_726 +[05/24 17:33:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_726 in 2.48s (batch: 2.38s, save: 0.09s) +[05/24 17:33:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_726 +[05/24 17:33:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 726: 0/1 successful episodes +[05/24 17:33:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 727 (index 61/83) +[05/24 17:33:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:33:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:33:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 727 episode 0/2 collected=0/3 +[05/24 17:33:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 727 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:33:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker' +[05/24 17:33:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 727 episode 1/2 collected=1/3 +[05/24 17:33:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 727 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 17:34:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_727: 2 episodes +[05/24 17:34:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:34:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:34:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_727 +[05/24 17:34:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_727 in 4.71s (batch: 4.61s, save: 0.11s) +[05/24 17:34:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_727 +[05/24 17:34:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 727: 1/2 successful episodes +[05/24 17:34:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 746 (index 62/83) +[05/24 17:34:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:34:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:34:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 746 episode 0/2 collected=0/3 +[05/24 17:34:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 746 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:35:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:35:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 746 episode 1/2 collected=1/3 +[05/24 17:35:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 746 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:35:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_746: 2 episodes +[05/24 17:35:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:35:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 153 timesteps +[05/24 17:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_746 +[05/24 17:35:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_746 in 4.32s (batch: 4.25s, save: 0.07s) +[05/24 17:35:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_746 +[05/24 17:35:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 746: 2/2 successful episodes +[05/24 17:35:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 752 (index 63/83) +[05/24 17:35:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 752 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:35:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_752_ceiling.xml +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=752, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 17:35:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 752 episode 0/1 collected=0/3 +[05/24 17:35:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 752 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True +[05/24 17:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_752: 1 episodes +[05/24 17:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 25 timesteps +[05/24 17:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_752 +[05/24 17:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_752 in 1.64s (batch: 1.62s, save: 0.02s) +[05/24 17:35:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_752 +[05/24 17:35:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 752: 1/1 successful episodes +[05/24 17:35:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 771 (index 64/83) +[05/24 17:35:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:35:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_771_ceiling.xml +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=771, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:35:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 771 episode 0/1 collected=0/3 +[05/24 17:35:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 771 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=False +[05/24 17:37:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_771: 1 episodes +[05/24 17:37:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_771 +[05/24 17:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_771 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 17:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_771 +[05/24 17:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 771: 0/1 successful episodes +[05/24 17:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 774 (index 65/83) +[05/24 17:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:37:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 774 episode 0/2 collected=0/3 +[05/24 17:37:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:38:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass shaker' +[05/24 17:38:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 774 episode 1/2 collected=1/3 +[05/24 17:38:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 1 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=False +[05/24 17:40:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_774: 2 episodes +[05/24 17:40:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_774 +[05/24 17:40:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_774 in 3.80s (batch: 3.63s, save: 0.16s) +[05/24 17:40:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_774 +[05/24 17:40:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 774: 0/2 successful episodes +[05/24 17:40:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 795 (index 66/83) +[05/24 17:40:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:40:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_795_ceiling.xml +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=795, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:40:11 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown box' +[05/24 17:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 795 episode 0/1 collected=0/3 +[05/24 17:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 795 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_3 completed with success=False +[05/24 17:41:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_795: 1 episodes +[05/24 17:41:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_795 +[05/24 17:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_795 in 2.30s (batch: 2.21s, save: 0.09s) +[05/24 17:41:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_795 +[05/24 17:41:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 795: 0/1 successful episodes +[05/24 17:41:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 809 (index 67/83) +[05/24 17:41:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 809 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:41:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 809 episode 0/2 collected=0/3 +[05/24 17:41:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 809 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 17:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:42:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 809 episode 1/2 collected=1/3 +[05/24 17:42:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 809 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False +[05/24 17:44:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_809: 2 episodes +[05/24 17:44:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 170 timesteps +[05/24 17:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_809 +[05/24 17:44:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_809 in 4.80s (batch: 4.66s, save: 0.14s) +[05/24 17:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_809 +[05/24 17:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 809: 1/2 successful episodes +[05/24 17:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 828 (index 68/83) +[05/24 17:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_828_ceiling.xml +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=828, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:44:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 828 episode 0/1 collected=0/3 +[05/24 17:44:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 828 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:44:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_828: 1 episodes +[05/24 17:44:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:44:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_828 +[05/24 17:44:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_828 in 2.21s (batch: 2.16s, save: 0.05s) +[05/24 17:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_828 +[05/24 17:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 828: 1/1 successful episodes +[05/24 17:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 834 (index 69/83) +[05/24 17:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:44:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 834 episode 0/2 collected=0/3 +[05/24 17:44:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 834 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 17:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:44:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 834 episode 1/2 collected=1/3 +[05/24 17:44:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 834 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:45:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_834: 2 episodes +[05/24 17:45:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_834 +[05/24 17:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_834 in 4.80s (batch: 4.69s, save: 0.11s) +[05/24 17:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_834 +[05/24 17:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 834: 1/2 successful episodes +[05/24 17:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 848 (index 70/83) +[05/24 17:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:46:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 848 episode 0/2 collected=0/3 +[05/24 17:46:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 848 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 17:46:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:46:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 848 episode 1/2 collected=1/3 +[05/24 17:46:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 848 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_4 completed with success=False +[05/24 17:48:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_848: 2 episodes +[05/24 17:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 176 timesteps +[05/24 17:48:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_848 +[05/24 17:48:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_848 in 3.61s (batch: 3.48s, save: 0.13s) +[05/24 17:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_848 +[05/24 17:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 848: 1/2 successful episodes +[05/24 17:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 863 (index 71/83) +[05/24 17:48:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_863_ceiling.xml +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=863, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:48:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 863 episode 0/1 collected=0/3 +[05/24 17:48:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 863 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 17:49:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_863: 1 episodes +[05/24 17:49:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/24 17:49:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_863 +[05/24 17:49:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_863 in 2.26s (batch: 2.23s, save: 0.03s) +[05/24 17:49:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_863 +[05/24 17:49:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 863: 1/1 successful episodes +[05/24 17:49:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 874 (index 72/83) +[05/24 17:49:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:49:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:49:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 874 episode 0/2 collected=0/3 +[05/24 17:49:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 874 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 17:50:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:50:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 874 episode 1/2 collected=1/3 +[05/24 17:50:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 874 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_3 completed with success=False +[05/24 17:51:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_874: 2 episodes +[05/24 17:51:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_874 +[05/24 17:51:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_874 in 3.95s (batch: 3.77s, save: 0.19s) +[05/24 17:51:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_874 +[05/24 17:51:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 874: 0/2 successful episodes +[05/24 17:51:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 889 (index 73/83) +[05/24 17:51:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 889 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:51:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:51:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 889 episode 0/2 collected=0/3 +[05/24 17:51:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 889 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_7 completed with success=False +[05/24 17:53:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:53:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 889 episode 1/2 collected=1/3 +[05/24 17:53:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 889 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:54:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_889: 2 episodes +[05/24 17:54:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_889 +[05/24 17:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_889 in 4.96s (batch: 4.79s, save: 0.17s) +[05/24 17:54:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_889 +[05/24 17:54:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 889: 0/2 successful episodes +[05/24 17:54:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 901 (index 74/83) +[05/24 17:54:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 901 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:54:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_901_ceiling.xml +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=901, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:55:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 901 episode 0/1 collected=0/3 +[05/24 17:55:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 901 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_8 completed with success=True +[05/24 17:56:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_901: 1 episodes +[05/24 17:56:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 378 timesteps +[05/24 17:56:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_901 +[05/24 17:56:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_901 in 2.48s (batch: 2.38s, save: 0.10s) +[05/24 17:56:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_901 +[05/24 17:56:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 901: 1/1 successful episodes +[05/24 17:56:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 902 (index 75/83) +[05/24 17:56:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:56:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:56:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 902 episode 0/2 collected=0/3 +[05/24 17:56:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_2 completed with success=True +[05/24 17:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle' +[05/24 17:56:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 902 episode 1/2 collected=1/3 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True +[05/24 17:57:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_902: 2 episodes +[05/24 17:57:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:57:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 145 timesteps +[05/24 17:57:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_902 +[05/24 17:57:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_902 in 3.35s (batch: 3.28s, save: 0.07s) +[05/24 17:57:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_902 +[05/24 17:57:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 902: 2/2 successful episodes +[05/24 17:57:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 925 (index 76/83) +[05/24 17:57:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:57:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_925_ceiling.xml +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=925, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:57:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 925 episode 0/1 collected=0/3 +[05/24 17:57:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 925 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_925: 1 episodes +[05/24 17:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:57:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_925 +[05/24 17:57:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_925 in 2.16s (batch: 2.13s, save: 0.03s) +[05/24 17:57:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_925 +[05/24 17:57:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 925: 1/1 successful episodes +[05/24 17:57:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 926 (index 77/83) +[05/24 17:57:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 926 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:57:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:57:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 926 episode 0/2 collected=0/3 +[05/24 17:57:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 926 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True +[05/24 17:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 17:57:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 926 episode 1/2 collected=1/3 +[05/24 17:57:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 926 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True +[05/24 17:58:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_926: 2 episodes +[05/24 17:58:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:58:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:58:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_926 +[05/24 17:58:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_926 in 3.32s (batch: 3.27s, save: 0.06s) +[05/24 17:58:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_926 +[05/24 17:58:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 926: 2/2 successful episodes +[05/24 17:58:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 945 (index 78/83) +[05/24 17:58:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:58:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_945_ceiling.xml +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=945, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:58:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 945 episode 0/1 collected=0/3 +[05/24 17:58:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 945 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_8 completed with success=True +[05/24 17:58:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_945: 1 episodes +[05/24 17:58:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:58:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_945 +[05/24 17:58:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_945 in 2.19s (batch: 2.15s, save: 0.05s) +[05/24 17:58:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_945 +[05/24 17:58:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 945: 1/1 successful episodes +[05/24 17:58:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 952 (index 79/83) +[05/24 17:58:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:58:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:58:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 952 episode 0/2 collected=0/3 +[05/24 17:58:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 952 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:58:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:58:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 952 episode 1/2 collected=1/3 +[05/24 17:58:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 952 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 18:00:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_952: 2 episodes +[05/24 18:00:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 18:00:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_952 +[05/24 18:00:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_952 in 3.59s (batch: 3.48s, save: 0.11s) +[05/24 18:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_952 +[05/24 18:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 952: 1/2 successful episodes +[05/24 18:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 966 (index 80/83) +[05/24 18:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 966 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 18:00:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 966 episode 0/2 collected=0/3 +[05/24 18:00:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 966 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True +[05/24 18:00:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 18:00:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 966 episode 1/2 collected=1/3 +[05/24 18:00:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 966 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 18:01:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_966: 2 episodes +[05/24 18:01:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 18:01:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 249 timesteps +[05/24 18:01:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_966 +[05/24 18:01:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_966 in 4.49s (batch: 4.41s, save: 0.08s) +[05/24 18:01:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_966 +[05/24 18:01:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 966: 2/2 successful episodes +[05/24 18:01:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 971 (index 81/83) +[05/24 18:01:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 971 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:01:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_971_ceiling.xml +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=971, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 18:01:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 971 episode 0/1 collected=0/3 +[05/24 18:01:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 971 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 18:02:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_971: 1 episodes +[05/24 18:02:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:02:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_971 +[05/24 18:02:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_971 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 18:02:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_971 +[05/24 18:02:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 971: 0/1 successful episodes +[05/24 18:02:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 985 (index 82/83) +[05/24 18:02:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:02:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 18:02:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 985 episode 0/2 collected=0/3 +[05/24 18:02:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 985 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 18:04:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:04:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:04:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 18:04:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 985 episode 1/2 collected=1/3 +[05/24 18:04:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 985 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=True +[05/24 18:04:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_985: 2 episodes +[05/24 18:04:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:04:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 18:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985 +[05/24 18:04:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_985 in 3.42s (batch: 3.32s, save: 0.11s) +[05/24 18:04:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_985 +[05/24 18:04:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 985: 1/2 successful episodes +[05/24 18:04:21 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:04:21 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:04:21 INFO pipeline.py:1499] Success count: 61, Total count: 125 +[05/24 18:04:21 INFO pipeline.py:1500] Success rate: 48.80% +Combined 125 episodes from 83 files → /tmp/tmp3ymhbsvr.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv at-end: 48.8% | oracle: 48.8% of 125 episodes +[2026-05-24 18:04:31,306] INFO MolmoSpaces simulator eval finished: success=61/125 rate=0.4880 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval +[2026-05-24 18:04:31,306] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_02.launcher.log b/pick_msproc/pick_msproc/shards/shard_02.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..8c67aa85bdf5e359cb42a4d56524ebf8bcd7620f --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_02.launcher.log @@ -0,0 +1,2982 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,464] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,522] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,552] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 (source=arg) +[2026-05-24 15:59:56,748] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,288] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,160] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,160] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,574] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,646] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,684] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [2, + 25, + 37, + 46, + 50, + 74, + 77, + 92, + 106, + 114, + 116, + 135, + 146, + 162, + 170, + 185, + 202, + 212, + 224, + 233, + 247, + 257, + 269, + 290, + 296, + 313, + 320, + 335, + 337, + 355, + 365, + 379, + 387, + 402, + 408, + 430, + 432, + 457, + 460, + 476, + 483, + 498, + 516, + 518, + 535, + 545, + 556, + 561, + 578, + 582, + 606, + 611, + 623, + 633, + 650, + 655, + 671, + 679, + 695, + 715, + 728, + 730, + 747, + 755, + 775, + 777, + 796, + 816, + 829, + 835, + 851, + 864, + 877, + 892, + 903, + 905, + 927, + 928, + 946, + 957, + 967, + 974, + 988], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,689] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2 (index 0/83) +[05/24 16:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 2 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:51,353:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:51,353] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_2_ceiling.xml +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=2, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 92 objects +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 16:04:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 2 episode 0/2 collected=0/2 +[05/24 16:04:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:53.492 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:13,178] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:13,622] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:16,611] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:20,377] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:20,380] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_9 completed with success=False +[05/24 16:08:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_2_ceiling.xml +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=2, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 92 objects +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray wooden bowl' +[05/24 16:08:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 2 episode 1/2 collected=1/2 +[05/24 16:08:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2 episode 1 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_5 completed with success=True +[05/24 16:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2: 2 episodes +[05/24 16:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 284 timesteps +[05/24 16:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_2 +[05/24 16:09:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2 in 4.60s (batch: 4.46s, save: 0.14s) +[05/24 16:09:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2 +[05/24 16:09:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2: 1/2 successful episodes +[05/24 16:09:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 25 (index 1/83) +[05/24 16:09:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 25 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_25_ceiling.xml +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=25, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:09:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 25 episode 0/2 collected=0/2 +[05/24 16:09:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 25 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:09:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_25_ceiling.xml +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=25, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:09:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 25 episode 1/2 collected=1/2 +[05/24 16:09:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 25 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 16:09:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_25: 2 episodes +[05/24 16:09:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:09:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/24 16:10:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_25 +[05/24 16:10:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_25 in 4.33s (batch: 4.27s, save: 0.06s) +[05/24 16:10:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_25 +[05/24 16:10:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 25: 2/2 successful episodes +[05/24 16:10:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 37 (index 2/83) +[05/24 16:10:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 37 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:10:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_37_ceiling.xml +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=37, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 16:10:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 37 episode 0/1 collected=0/2 +[05/24 16:10:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 37 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_8 completed with success=True +[05/24 16:10:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_37: 1 episodes +[05/24 16:10:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:10:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_37 +[05/24 16:10:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_37 in 2.14s (batch: 2.11s, save: 0.03s) +[05/24 16:10:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_37 +[05/24 16:10:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 37: 1/1 successful episodes +[05/24 16:10:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 46 (index 3/83) +[05/24 16:10:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 46 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:10:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_46_ceiling.xml +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=46, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:10:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 46 episode 0/2 collected=0/2 +[05/24 16:10:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 46 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:10:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_46_ceiling.xml +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=46, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:10:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 46 episode 1/2 collected=1/2 +[05/24 16:10:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 46 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_2_0_6 completed with success=False +[05/24 16:12:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_46: 2 episodes +[05/24 16:12:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 58 timesteps +[05/24 16:12:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_46 +[05/24 16:12:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_46 in 4.60s (batch: 4.48s, save: 0.12s) +[05/24 16:12:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_46 +[05/24 16:12:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 46: 1/2 successful episodes +[05/24 16:12:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 50 (index 4/83) +[05/24 16:12:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 50 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:12:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_50_ceiling.xml +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=50, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 81 objects +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:12:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 50 episode 0/1 collected=0/2 +[05/24 16:12:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 50 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:13:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_50: 1 episodes +[05/24 16:13:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_50 +[05/24 16:13:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_50 in 2.15s (batch: 2.07s, save: 0.09s) +[05/24 16:13:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_50 +[05/24 16:13:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 50: 0/1 successful episodes +[05/24 16:13:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 74 (index 5/83) +[05/24 16:13:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 74 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:13:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_74_ceiling.xml +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=74, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 16:13:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 74 episode 0/1 collected=0/2 +[05/24 16:13:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 74 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:14:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_74: 1 episodes +[05/24 16:14:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_74 +[05/24 16:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_74 in 2.14s (batch: 2.05s, save: 0.09s) +[05/24 16:14:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_74 +[05/24 16:14:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 74: 0/1 successful episodes +[05/24 16:14:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 77 (index 6/83) +[05/24 16:14:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 77 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:14:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_77_ceiling.xml +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=77, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 16:15:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 77 episode 0/2 collected=0/2 +[05/24 16:15:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 77 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:15:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_77_ceiling.xml +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=77, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:15:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 77 episode 1/2 collected=1/2 +[05/24 16:15:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 77 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 16:15:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_77: 2 episodes +[05/24 16:15:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:15:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:15:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_77 +[05/24 16:15:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_77 in 3.84s (batch: 3.78s, save: 0.05s) +[05/24 16:15:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_77 +[05/24 16:15:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 77: 2/2 successful episodes +[05/24 16:15:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 92 (index 7/83) +[05/24 16:15:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 92 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_92_ceiling.xml +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=92, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:15:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 92 episode 0/2 collected=0/2 +[05/24 16:15:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 92 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:16:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_92_ceiling.xml +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=92, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:16:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 92 episode 1/2 collected=1/2 +[05/24 16:16:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 92 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:17:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_92: 2 episodes +[05/24 16:17:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 143 timesteps +[05/24 16:17:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_92 +[05/24 16:17:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_92 in 4.21s (batch: 4.09s, save: 0.12s) +[05/24 16:17:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_92 +[05/24 16:17:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 92: 1/2 successful episodes +[05/24 16:17:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 106 (index 8/83) +[05/24 16:17:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 106 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:17:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_106_ceiling.xml +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=106, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black matte cooking pot with handles' +[05/24 16:17:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 106 episode 0/2 collected=0/2 +[05/24 16:17:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 106 episode 0 object pot_327edb884d62930ab5c6e8fce062daba_1_0_2 completed with success=False +[05/24 16:18:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_106_ceiling.xml +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=106, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:18:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 106 episode 1/2 collected=1/2 +[05/24 16:18:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 106 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 16:19:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_106: 2 episodes +[05/24 16:19:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:19:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:19:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_106 +[05/24 16:19:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_106 in 4.83s (batch: 4.66s, save: 0.17s) +[05/24 16:19:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_106 +[05/24 16:19:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 106: 0/2 successful episodes +[05/24 16:19:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 114 (index 9/83) +[05/24 16:19:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 114 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:19:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_114_ceiling.xml +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=114, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:20:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 114 episode 0/1 collected=0/2 +[05/24 16:20:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 114 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 16:20:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_114: 1 episodes +[05/24 16:20:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 134 timesteps +[05/24 16:20:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_114 +[05/24 16:20:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_114 in 2.17s (batch: 2.13s, save: 0.04s) +[05/24 16:20:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_114 +[05/24 16:20:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 114: 1/1 successful episodes +[05/24 16:20:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 116 (index 10/83) +[05/24 16:20:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 116 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:20:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_116_ceiling.xml +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=116, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:20:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 116 episode 0/2 collected=0/2 +[05/24 16:20:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 116 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=False +[05/24 16:22:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_116_ceiling.xml +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=116, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent plastic cup' +[05/24 16:22:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 116 episode 1/2 collected=1/2 +[05/24 16:22:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 116 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 16:23:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_116: 2 episodes +[05/24 16:23:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_116 +[05/24 16:23:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_116 in 4.32s (batch: 4.15s, save: 0.17s) +[05/24 16:23:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_116 +[05/24 16:23:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 116: 0/2 successful episodes +[05/24 16:23:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 135 (index 11/83) +[05/24 16:23:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 135 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:23:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_135_ceiling.xml +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=135, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:23:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 135 episode 0/2 collected=0/2 +[05/24 16:23:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 135 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=False +[05/24 16:24:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_135_ceiling.xml +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=135, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:25:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 135 episode 1/2 collected=1/2 +[05/24 16:25:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 135 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:26:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_135: 2 episodes +[05/24 16:26:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_135 +[05/24 16:26:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_135 in 4.82s (batch: 4.65s, save: 0.17s) +[05/24 16:26:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_135 +[05/24 16:26:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 135: 0/2 successful episodes +[05/24 16:26:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 146 (index 12/83) +[05/24 16:26:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 146 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:26:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_146_ceiling.xml +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=146, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vessel' +[05/24 16:26:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 146 episode 0/1 collected=0/2 +[05/24 16:26:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 146 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 16:27:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_146: 1 episodes +[05/24 16:27:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 218 timesteps +[05/24 16:27:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_146 +[05/24 16:27:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_146 in 2.34s (batch: 2.28s, save: 0.06s) +[05/24 16:27:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_146 +[05/24 16:27:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 146: 1/1 successful episodes +[05/24 16:27:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 162 (index 13/83) +[05/24 16:27:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 162 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:27:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_162_ceiling.xml +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=162, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth medium red apple' +[05/24 16:27:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 162 episode 0/1 collected=0/2 +[05/24 16:27:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 162 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_6 completed with success=True +[05/24 16:27:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_162: 1 episodes +[05/24 16:27:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:27:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_162 +[05/24 16:27:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_162 in 1.98s (batch: 1.95s, save: 0.03s) +[05/24 16:27:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_162 +[05/24 16:27:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 162: 1/1 successful episodes +[05/24 16:27:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 170 (index 14/83) +[05/24 16:27:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:27:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_170_ceiling.xml +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=170, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:27:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 170 episode 0/2 collected=0/2 +[05/24 16:27:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 170 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:28:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_170_ceiling.xml +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=170, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:28:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 170 episode 1/2 collected=1/2 +[05/24 16:28:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 170 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 16:30:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_170: 2 episodes +[05/24 16:30:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_170 +[05/24 16:30:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_170 in 4.58s (batch: 4.41s, save: 0.17s) +[05/24 16:30:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_170 +[05/24 16:30:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 170: 0/2 successful episodes +[05/24 16:30:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 185 (index 15/83) +[05/24 16:30:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:30:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_185_ceiling.xml +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=185, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:30:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 185 episode 0/1 collected=0/2 +[05/24 16:30:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 185 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=True +[05/24 16:30:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_185: 1 episodes +[05/24 16:30:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 16:30:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_185 +[05/24 16:30:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_185 in 1.94s (batch: 1.91s, save: 0.03s) +[05/24 16:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_185 +[05/24 16:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 185: 1/1 successful episodes +[05/24 16:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 202 (index 16/83) +[05/24 16:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 202 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_202_ceiling.xml +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=202, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:30:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 202 episode 0/1 collected=0/2 +[05/24 16:30:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 202 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 16:31:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_202: 1 episodes +[05/24 16:31:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_202 +[05/24 16:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_202 in 2.41s (batch: 2.32s, save: 0.08s) +[05/24 16:31:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_202 +[05/24 16:31:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 202: 0/1 successful episodes +[05/24 16:31:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 212 (index 17/83) +[05/24 16:31:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 212 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:31:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_212_ceiling.xml +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=212, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:32:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 212 episode 0/2 collected=0/2 +[05/24 16:32:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 212 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_8 completed with success=False +[05/24 16:33:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_212_ceiling.xml +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=212, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:33:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 212 episode 1/2 collected=1/2 +[05/24 16:33:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 212 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_2_0_8 completed with success=True +[05/24 16:33:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_212: 2 episodes +[05/24 16:33:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:33:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_212 +[05/24 16:33:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_212 in 4.42s (batch: 4.27s, save: 0.14s) +[05/24 16:33:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_212 +[05/24 16:33:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 212: 1/2 successful episodes +[05/24 16:33:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 224 (index 18/83) +[05/24 16:33:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:33:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_224_ceiling.xml +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=224, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper' +[05/24 16:34:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 224 episode 0/1 collected=0/2 +[05/24 16:34:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 224 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 16:35:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_224: 1 episodes +[05/24 16:35:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_224 +[05/24 16:35:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_224 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 16:35:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_224 +[05/24 16:35:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 224: 0/1 successful episodes +[05/24 16:35:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 233 (index 19/83) +[05/24 16:35:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 233 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:35:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_233_ceiling.xml +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=233, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:35:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 233 episode 0/2 collected=0/2 +[05/24 16:35:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 233 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:35:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_233_ceiling.xml +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=233, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:35:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 233 episode 1/2 collected=1/2 +[05/24 16:35:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 233 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:36:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_233: 2 episodes +[05/24 16:36:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:37:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:37:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_233 +[05/24 16:37:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_233 in 4.11s (batch: 4.00s, save: 0.12s) +[05/24 16:37:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_233 +[05/24 16:37:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 233: 1/2 successful episodes +[05/24 16:37:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 247 (index 20/83) +[05/24 16:37:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:37:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_247_ceiling.xml +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=247, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the fork' +[05/24 16:37:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 247 episode 0/1 collected=0/2 +[05/24 16:37:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 247 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:38:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_247: 1 episodes +[05/24 16:38:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_247 +[05/24 16:38:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_247 in 2.16s (batch: 2.07s, save: 0.09s) +[05/24 16:38:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_247 +[05/24 16:38:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 247: 0/1 successful episodes +[05/24 16:38:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 257 (index 21/83) +[05/24 16:38:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 257 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:38:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_257_ceiling.xml +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=257, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:38:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 257 episode 0/2 collected=0/2 +[05/24 16:38:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 257 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 16:39:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_257_ceiling.xml +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=257, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 16:39:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 257 episode 1/2 collected=1/2 +[05/24 16:39:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 257 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 16:41:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_257: 2 episodes +[05/24 16:41:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_257 +[05/24 16:41:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_257 in 4.33s (batch: 4.16s, save: 0.17s) +[05/24 16:41:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_257 +[05/24 16:41:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 257: 0/2 successful episodes +[05/24 16:41:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 269 (index 22/83) +[05/24 16:41:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:41:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_269_ceiling.xml +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=269, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:41:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 269 episode 0/1 collected=0/2 +[05/24 16:41:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 269 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:41:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_269: 1 episodes +[05/24 16:41:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:41:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_269 +[05/24 16:41:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_269 in 1.96s (batch: 1.93s, save: 0.03s) +[05/24 16:41:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_269 +[05/24 16:41:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 269: 1/1 successful episodes +[05/24 16:41:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 290 (index 23/83) +[05/24 16:41:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:41:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_290_ceiling.xml +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=290, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:41:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 290 episode 0/2 collected=0/2 +[05/24 16:41:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 290 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 16:41:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_290_ceiling.xml +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=290, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:41:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 290 episode 1/2 collected=1/2 +[05/24 16:41:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 290 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_290: 2 episodes +[05/24 16:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 16:42:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_290 +[05/24 16:42:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_290 in 4.13s (batch: 4.02s, save: 0.11s) +[05/24 16:42:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_290 +[05/24 16:42:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 290: 1/2 successful episodes +[05/24 16:42:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 296 (index 24/83) +[05/24 16:42:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:42:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_296_ceiling.xml +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=296, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:43:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 296 episode 0/1 collected=0/2 +[05/24 16:43:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 296 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 16:44:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_296: 1 episodes +[05/24 16:44:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_296 +[05/24 16:44:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_296 in 2.34s (batch: 2.26s, save: 0.09s) +[05/24 16:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_296 +[05/24 16:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 296: 0/1 successful episodes +[05/24 16:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 313 (index 25/83) +[05/24 16:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 313 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_313_ceiling.xml +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=313, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:44:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 313 episode 0/2 collected=0/2 +[05/24 16:44:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 313 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:44:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_313_ceiling.xml +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=313, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:44:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 313 episode 1/2 collected=1/2 +[05/24 16:44:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 313 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_313: 2 episodes +[05/24 16:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:46:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_313 +[05/24 16:46:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_313 in 4.06s (batch: 3.94s, save: 0.13s) +[05/24 16:46:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_313 +[05/24 16:46:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 313: 1/2 successful episodes +[05/24 16:46:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 320 (index 26/83) +[05/24 16:46:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:46:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_320_ceiling.xml +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=320, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 92 objects +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:46:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 320 episode 0/1 collected=0/2 +[05/24 16:46:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 320 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:48:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_320: 1 episodes +[05/24 16:48:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_320 +[05/24 16:48:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_320 in 2.19s (batch: 2.10s, save: 0.09s) +[05/24 16:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_320 +[05/24 16:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 320: 0/1 successful episodes +[05/24 16:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 335 (index 27/83) +[05/24 16:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 335 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_335_ceiling.xml +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=335, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal rectangular box' +[05/24 16:48:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 335 episode 0/2 collected=0/2 +[05/24 16:48:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 335 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_335_ceiling.xml +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=335, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 16:48:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 335 episode 1/2 collected=1/2 +[05/24 16:48:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 335 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 16:49:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_335: 2 episodes +[05/24 16:49:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 194 timesteps +[05/24 16:49:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 126 timesteps +[05/24 16:49:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:18 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_335 +[05/24 16:49:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_335 in 4.44s (batch: 4.35s, save: 0.09s) +[05/24 16:49:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_335 +[05/24 16:49:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 335: 2/2 successful episodes +[05/24 16:49:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 337 (index 28/83) +[05/24 16:49:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 337 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:49:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_337_ceiling.xml +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=337, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:49:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 337 episode 0/1 collected=0/2 +[05/24 16:49:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 337 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=True +[05/24 16:49:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_337: 1 episodes +[05/24 16:49:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:49:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_337 +[05/24 16:49:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_337 in 1.95s (batch: 1.90s, save: 0.05s) +[05/24 16:49:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_337 +[05/24 16:49:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 337: 1/1 successful episodes +[05/24 16:49:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 355 (index 29/83) +[05/24 16:49:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 355 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:49:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_355_ceiling.xml +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=355, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:49:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 355 episode 0/1 collected=0/2 +[05/24 16:49:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 355 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:51:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_355: 1 episodes +[05/24 16:51:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_355 +[05/24 16:51:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_355 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 16:51:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_355 +[05/24 16:51:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 355: 0/1 successful episodes +[05/24 16:51:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 365 (index 30/83) +[05/24 16:51:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:51:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_365_ceiling.xml +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=365, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:51:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 16:51:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 365 episode 0/2 collected=0/2 +[05/24 16:51:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 365 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 16:52:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_365_ceiling.xml +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=365, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:52:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 365 episode 1/2 collected=1/2 +[05/24 16:52:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 365 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:52:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_365: 2 episodes +[05/24 16:52:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 289 timesteps +[05/24 16:52:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:52:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_365 +[05/24 16:52:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_365 in 3.96s (batch: 3.88s, save: 0.09s) +[05/24 16:52:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_365 +[05/24 16:52:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 365: 2/2 successful episodes +[05/24 16:52:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 379 (index 31/83) +[05/24 16:52:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 379 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:52:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_379_ceiling.xml +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=379, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:52:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 379 episode 0/2 collected=0/2 +[05/24 16:52:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 379 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:54:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_379_ceiling.xml +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=379, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:54:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 379 episode 1/2 collected=1/2 +[05/24 16:54:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 379 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 16:54:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_379: 2 episodes +[05/24 16:54:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:54:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_379 +[05/24 16:54:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_379 in 4.43s (batch: 4.31s, save: 0.12s) +[05/24 16:54:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_379 +[05/24 16:54:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 379: 1/2 successful episodes +[05/24 16:54:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 387 (index 32/83) +[05/24 16:54:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:54:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_387_ceiling.xml +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=387, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:54:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 387 episode 0/1 collected=0/2 +[05/24 16:54:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 387 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 16:56:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_387: 1 episodes +[05/24 16:56:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_387 +[05/24 16:56:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_387 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 16:56:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_387 +[05/24 16:56:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 387: 0/1 successful episodes +[05/24 16:56:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 402 (index 33/83) +[05/24 16:56:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 402 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:56:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_402_ceiling.xml +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=402, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:56:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 402 episode 0/2 collected=0/2 +[05/24 16:56:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 402 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 16:57:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_402_ceiling.xml +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=402, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot' +[05/24 16:57:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 402 episode 1/2 collected=1/2 +[05/24 16:57:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 402 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_2 completed with success=True +[05/24 16:57:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_402: 2 episodes +[05/24 16:57:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 182 timesteps +[05/24 16:57:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_402 +[05/24 16:57:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_402 in 4.56s (batch: 4.43s, save: 0.13s) +[05/24 16:57:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_402 +[05/24 16:57:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 402: 1/2 successful episodes +[05/24 16:57:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 408 (index 34/83) +[05/24 16:57:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:57:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_408_ceiling.xml +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=408, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender polished metal butter knife' +[05/24 16:58:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 408 episode 0/1 collected=0/2 +[05/24 16:58:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 408 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:59:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_408: 1 episodes +[05/24 16:59:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_408 +[05/24 16:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_408 in 2.08s (batch: 1.99s, save: 0.09s) +[05/24 16:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_408 +[05/24 16:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 408: 0/1 successful episodes +[05/24 16:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 430 (index 35/83) +[05/24 16:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_430_ceiling.xml +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=430, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:59:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 430 episode 0/1 collected=0/2 +[05/24 16:59:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 430 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:00:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_430: 1 episodes +[05/24 17:00:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_430 +[05/24 17:00:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_430 in 2.17s (batch: 2.08s, save: 0.09s) +[05/24 17:00:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_430 +[05/24 17:00:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 430: 0/1 successful episodes +[05/24 17:00:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 432 (index 36/83) +[05/24 17:00:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 432 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:00:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_432_ceiling.xml +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=432, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:00:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 432 episode 0/2 collected=0/2 +[05/24 17:00:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 432 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_8 completed with success=False +[05/24 17:02:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_432_ceiling.xml +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=432, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with thick rim' +[05/24 17:03:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 432 episode 1/2 collected=1/2 +[05/24 17:03:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 432 episode 1 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 17:03:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_432: 2 episodes +[05/24 17:03:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:03:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_432 +[05/24 17:03:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_432 in 4.03s (batch: 3.91s, save: 0.11s) +[05/24 17:03:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_432 +[05/24 17:03:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 432: 1/2 successful episodes +[05/24 17:03:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 457 (index 37/83) +[05/24 17:03:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 457 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:03:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_457_ceiling.xml +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=457, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 114 objects +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:03:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 457 episode 0/1 collected=0/2 +[05/24 17:03:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 457 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 17:04:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_457: 1 episodes +[05/24 17:04:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:04:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_457 +[05/24 17:04:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_457 in 2.21s (batch: 2.15s, save: 0.06s) +[05/24 17:04:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_457 +[05/24 17:04:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 457: 1/1 successful episodes +[05/24 17:04:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 460 (index 38/83) +[05/24 17:04:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:04:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_460_ceiling.xml +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=460, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray bowl' +[05/24 17:04:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 460 episode 0/2 collected=0/2 +[05/24 17:04:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 460 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=True +[05/24 17:04:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_460_ceiling.xml +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=460, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:04:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 460 episode 1/2 collected=1/2 +[05/24 17:04:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 460 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_6 completed with success=True +[05/24 17:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_460: 2 episodes +[05/24 17:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:04:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 17:04:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_460 +[05/24 17:05:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_460 in 3.93s (batch: 3.85s, save: 0.08s) +[05/24 17:05:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_460 +[05/24 17:05:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 460: 2/2 successful episodes +[05/24 17:05:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 476 (index 39/83) +[05/24 17:05:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:05:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_476_ceiling.xml +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=476, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:05:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 476 episode 0/2 collected=0/2 +[05/24 17:05:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 476 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 17:05:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_476_ceiling.xml +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=476, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:05:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 476 episode 1/2 collected=1/2 +[05/24 17:05:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 476 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:06:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_476: 2 episodes +[05/24 17:06:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:06:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_476 +[05/24 17:06:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_476 in 4.31s (batch: 4.20s, save: 0.11s) +[05/24 17:06:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_476 +[05/24 17:06:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 476: 1/2 successful episodes +[05/24 17:06:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 483 (index 40/83) +[05/24 17:06:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:06:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_483_ceiling.xml +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=483, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth tapered translucent plastic cup' +[05/24 17:06:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 483 episode 0/1 collected=0/2 +[05/24 17:06:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 483 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True +[05/24 17:07:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_483: 1 episodes +[05/24 17:07:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:07:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_483 +[05/24 17:07:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_483 in 2.14s (batch: 2.11s, save: 0.03s) +[05/24 17:07:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_483 +[05/24 17:07:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 483: 1/1 successful episodes +[05/24 17:07:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 498 (index 41/83) +[05/24 17:07:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:07:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_498_ceiling.xml +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=498, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 17:07:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 498 episode 0/1 collected=0/2 +[05/24 17:07:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 498 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 17:07:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_498: 1 episodes +[05/24 17:07:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:07:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_498 +[05/24 17:07:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_498 in 2.21s (batch: 2.17s, save: 0.03s) +[05/24 17:07:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_498 +[05/24 17:07:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 498: 1/1 successful episodes +[05/24 17:07:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 516 (index 42/83) +[05/24 17:07:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 516 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:07:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_516_ceiling.xml +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=516, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:07:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 516 episode 0/2 collected=0/2 +[05/24 17:07:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 516 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_6 completed with success=False +[05/24 17:08:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_516_ceiling.xml +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=516, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:08:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 516 episode 1/2 collected=1/2 +[05/24 17:08:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 516 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 17:10:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_516: 2 episodes +[05/24 17:10:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_516 +[05/24 17:10:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_516 in 4.35s (batch: 4.17s, save: 0.18s) +[05/24 17:10:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_516 +[05/24 17:10:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 516: 0/2 successful episodes +[05/24 17:10:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 518 (index 43/83) +[05/24 17:10:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 518 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:10:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_518_ceiling.xml +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=518, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:10:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 518 episode 0/1 collected=0/2 +[05/24 17:10:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 518 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_8 completed with success=True +[05/24 17:10:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_518: 1 episodes +[05/24 17:10:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:10:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_518 +[05/24 17:10:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_518 in 1.94s (batch: 1.91s, save: 0.03s) +[05/24 17:10:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_518 +[05/24 17:10:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 518: 1/1 successful episodes +[05/24 17:10:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 535 (index 44/83) +[05/24 17:10:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:10:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_535_ceiling.xml +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=535, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:10:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 535 episode 0/1 collected=0/2 +[05/24 17:10:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 535 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_9 completed with success=False +[05/24 17:12:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_535: 1 episodes +[05/24 17:12:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:12:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_535 +[05/24 17:12:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_535 in 2.36s (batch: 2.27s, save: 0.09s) +[05/24 17:12:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_535 +[05/24 17:12:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 535: 0/1 successful episodes +[05/24 17:12:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 545 (index 45/83) +[05/24 17:12:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 545 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:12:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_545_ceiling.xml +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=545, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 17:12:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 545 episode 0/2 collected=0/2 +[05/24 17:12:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 545 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_6 completed with success=False +[05/24 17:13:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_545_ceiling.xml +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=545, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the remote control' +[05/24 17:13:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 545 episode 1/2 collected=1/2 +[05/24 17:13:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 545 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 17:13:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_545: 2 episodes +[05/24 17:13:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:14:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_545 +[05/24 17:14:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_545 in 4.15s (batch: 4.03s, save: 0.12s) +[05/24 17:14:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_545 +[05/24 17:14:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 545: 1/2 successful episodes +[05/24 17:14:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 556 (index 46/83) +[05/24 17:14:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:14:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_556_ceiling.xml +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=556, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife blade' +[05/24 17:14:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 556 episode 0/2 collected=0/2 +[05/24 17:14:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 556 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_2 completed with success=True +[05/24 17:14:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_556_ceiling.xml +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=556, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 17:14:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 556 episode 1/2 collected=1/2 +[05/24 17:14:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 556 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:15:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_556: 2 episodes +[05/24 17:15:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:15:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_556 +[05/24 17:15:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_556 in 4.11s (batch: 4.00s, save: 0.11s) +[05/24 17:15:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_556 +[05/24 17:15:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 556: 1/2 successful episodes +[05/24 17:15:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 561 (index 47/83) +[05/24 17:15:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:15:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_561_ceiling.xml +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=561, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:15:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 561 episode 0/1 collected=0/2 +[05/24 17:15:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 561 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:16:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_561: 1 episodes +[05/24 17:16:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_561 +[05/24 17:16:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_561 in 2.41s (batch: 2.31s, save: 0.10s) +[05/24 17:16:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_561 +[05/24 17:16:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 561: 0/1 successful episodes +[05/24 17:16:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 578 (index 48/83) +[05/24 17:16:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 578 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:16:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_578_ceiling.xml +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=578, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:16:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 578 episode 0/2 collected=0/2 +[05/24 17:16:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 578 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 17:17:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_578_ceiling.xml +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=578, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:17:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 578 episode 1/2 collected=1/2 +[05/24 17:17:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 578 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 completed with success=True +[05/24 17:18:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_578: 2 episodes +[05/24 17:18:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:18:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 361 timesteps +[05/24 17:18:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_578 +[05/24 17:18:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_578 in 4.06s (batch: 3.96s, save: 0.10s) +[05/24 17:18:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_578 +[05/24 17:18:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 578: 2/2 successful episodes +[05/24 17:18:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 582 (index 49/83) +[05/24 17:18:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 582 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:18:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_582_ceiling.xml +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=582, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth red apple' +[05/24 17:18:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 582 episode 0/1 collected=0/2 +[05/24 17:18:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 582 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:19:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_582: 1 episodes +[05/24 17:19:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_582 +[05/24 17:19:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_582 in 2.26s (batch: 2.17s, save: 0.09s) +[05/24 17:19:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_582 +[05/24 17:19:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 582: 0/1 successful episodes +[05/24 17:19:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 606 (index 50/83) +[05/24 17:19:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:19:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_606_ceiling.xml +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=606, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:19:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 606 episode 0/1 collected=0/2 +[05/24 17:19:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 606 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3 completed with success=False +[05/24 17:20:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_606: 1 episodes +[05/24 17:20:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_606 +[05/24 17:20:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_606 in 2.45s (batch: 2.35s, save: 0.10s) +[05/24 17:20:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_606 +[05/24 17:20:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 606: 0/1 successful episodes +[05/24 17:20:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 611 (index 51/83) +[05/24 17:20:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 611 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:20:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_611_ceiling.xml +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=611, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:20:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 611 episode 0/2 collected=0/2 +[05/24 17:20:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 611 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:22:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_611_ceiling.xml +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=611, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth tapered translucent plastic cup' +[05/24 17:22:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 611 episode 1/2 collected=1/2 +[05/24 17:22:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 611 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:23:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_611: 2 episodes +[05/24 17:23:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_611 +[05/24 17:23:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_611 in 4.37s (batch: 4.20s, save: 0.17s) +[05/24 17:23:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_611 +[05/24 17:23:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 611: 0/2 successful episodes +[05/24 17:23:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 623 (index 52/83) +[05/24 17:23:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:23:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_623_ceiling.xml +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=623, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 17:23:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 623 episode 0/1 collected=0/2 +[05/24 17:23:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 623 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_6 completed with success=False +[05/24 17:25:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_623: 1 episodes +[05/24 17:25:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_623 +[05/24 17:25:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_623 in 2.14s (batch: 2.04s, save: 0.09s) +[05/24 17:25:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_623 +[05/24 17:25:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 623: 0/1 successful episodes +[05/24 17:25:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 633 (index 53/83) +[05/24 17:25:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 633 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:25:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_633_ceiling.xml +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=633, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:25:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 633 episode 0/2 collected=0/2 +[05/24 17:25:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 633 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 17:25:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_633_ceiling.xml +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=633, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:25:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 633 episode 1/2 collected=1/2 +[05/24 17:25:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 633 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:26:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_633: 2 episodes +[05/24 17:26:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 36 timesteps +[05/24 17:26:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_633 +[05/24 17:26:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_633 in 4.12s (batch: 4.01s, save: 0.11s) +[05/24 17:26:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_633 +[05/24 17:26:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 633: 1/2 successful episodes +[05/24 17:26:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 650 (index 54/83) +[05/24 17:26:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 650 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:26:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_650_ceiling.xml +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=650, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown cup' +[05/24 17:26:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 650 episode 0/2 collected=0/2 +[05/24 17:26:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 650 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 17:27:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_650_ceiling.xml +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=650, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 17:27:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 650 episode 1/2 collected=1/2 +[05/24 17:27:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 650 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:28:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_650: 2 episodes +[05/24 17:28:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:28:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:28:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_650 +[05/24 17:28:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_650 in 4.57s (batch: 4.46s, save: 0.11s) +[05/24 17:28:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_650 +[05/24 17:28:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 650: 1/2 successful episodes +[05/24 17:28:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 655 (index 55/83) +[05/24 17:28:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:28:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_655_ceiling.xml +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=655, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 17:28:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 655 episode 0/1 collected=0/2 +[05/24 17:28:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 655 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=True +[05/24 17:29:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_655: 1 episodes +[05/24 17:29:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:29:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_655 +[05/24 17:29:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_655 in 1.91s (batch: 1.88s, save: 0.03s) +[05/24 17:29:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_655 +[05/24 17:29:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 655: 1/1 successful episodes +[05/24 17:29:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 671 (index 56/83) +[05/24 17:29:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 671 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:29:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_671_ceiling.xml +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=671, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap bottle' +[05/24 17:29:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 671 episode 0/1 collected=0/2 +[05/24 17:29:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 671 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=False +[05/24 17:30:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_671: 1 episodes +[05/24 17:30:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_671 +[05/24 17:30:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_671 in 2.14s (batch: 2.04s, save: 0.10s) +[05/24 17:30:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_671 +[05/24 17:30:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 671: 0/1 successful episodes +[05/24 17:30:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 679 (index 57/83) +[05/24 17:30:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 679 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:30:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_679_ceiling.xml +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=679, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:30:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 679 episode 0/2 collected=0/2 +[05/24 17:30:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 679 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:30:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_679_ceiling.xml +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=679, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:30:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 679 episode 1/2 collected=1/2 +[05/24 17:30:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 679 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 17:31:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_679: 2 episodes +[05/24 17:31:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 17:31:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:31:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_679 +[05/24 17:31:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_679 in 4.13s (batch: 4.08s, save: 0.05s) +[05/24 17:31:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_679 +[05/24 17:31:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 679: 2/2 successful episodes +[05/24 17:31:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 695 (index 58/83) +[05/24 17:31:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:31:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_695_ceiling.xml +[05/24 17:31:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=695, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:31:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:31:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 695 episode 0/1 collected=0/2 +[05/24 17:31:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 695 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_5 completed with success=False +[05/24 17:32:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_695: 1 episodes +[05/24 17:32:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_695 +[05/24 17:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_695 in 2.40s (batch: 2.29s, save: 0.11s) +[05/24 17:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_695 +[05/24 17:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 695: 0/1 successful episodes +[05/24 17:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 715 (index 59/83) +[05/24 17:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:32:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_715_ceiling.xml +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=715, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 17:32:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 715 episode 0/1 collected=0/2 +[05/24 17:32:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 715 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=True +[05/24 17:32:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_715: 1 episodes +[05/24 17:32:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 17:32:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_715 +[05/24 17:32:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_715 in 2.11s (batch: 2.08s, save: 0.03s) +[05/24 17:32:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_715 +[05/24 17:32:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 715: 1/1 successful episodes +[05/24 17:32:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 728 (index 60/83) +[05/24 17:32:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:32:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_728_ceiling.xml +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=728, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:32:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 728 episode 0/2 collected=0/2 +[05/24 17:32:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 728 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=False +[05/24 17:34:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_728_ceiling.xml +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=728, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:34:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 728 episode 1/2 collected=1/2 +[05/24 17:34:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 728 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 17:35:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_728: 2 episodes +[05/24 17:35:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:35:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:35:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_728 +[05/24 17:35:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_728 in 4.81s (batch: 4.64s, save: 0.17s) +[05/24 17:35:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_728 +[05/24 17:35:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 728: 0/2 successful episodes +[05/24 17:35:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 730 (index 61/83) +[05/24 17:35:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 730 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:35:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_730_ceiling.xml +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=730, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 108 objects +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:35:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 730 episode 0/1 collected=0/2 +[05/24 17:35:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 730 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 17:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_730: 1 episodes +[05/24 17:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 17:35:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_730 +[05/24 17:35:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_730 in 1.96s (batch: 1.92s, save: 0.04s) +[05/24 17:35:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_730 +[05/24 17:35:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 730: 1/1 successful episodes +[05/24 17:35:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 747 (index 62/83) +[05/24 17:35:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:35:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_747_ceiling.xml +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=747, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:35:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 747 episode 0/2 collected=0/2 +[05/24 17:35:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 747 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_3_0_2 completed with success=False +[05/24 17:37:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_747_ceiling.xml +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=747, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 17:37:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 747 episode 1/2 collected=1/2 +[05/24 17:37:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 747 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 17:39:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_747: 2 episodes +[05/24 17:39:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_747 +[05/24 17:39:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_747 in 4.72s (batch: 4.55s, save: 0.17s) +[05/24 17:39:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_747 +[05/24 17:39:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 747: 0/2 successful episodes +[05/24 17:39:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 755 (index 63/83) +[05/24 17:39:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:39:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_755_ceiling.xml +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=755, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 17:39:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 755 episode 0/1 collected=0/2 +[05/24 17:39:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 755 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_2_0_6 completed with success=True +[05/24 17:39:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_755: 1 episodes +[05/24 17:39:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 17:39:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_755 +[05/24 17:39:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_755 in 1.93s (batch: 1.88s, save: 0.05s) +[05/24 17:39:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_755 +[05/24 17:39:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 755: 1/1 successful episodes +[05/24 17:39:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 775 (index 64/83) +[05/24 17:39:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:39:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_775_ceiling.xml +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=775, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutting implement' +[05/24 17:39:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 775 episode 0/2 collected=0/2 +[05/24 17:39:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 775 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=True +[05/24 17:39:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_775_ceiling.xml +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=775, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup without handle' +[05/24 17:39:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 775 episode 1/2 collected=1/2 +[05/24 17:39:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 775 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_2 completed with success=True +[05/24 17:40:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_775: 2 episodes +[05/24 17:40:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 180 timesteps +[05/24 17:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_775 +[05/24 17:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_775 in 4.38s (batch: 4.30s, save: 0.08s) +[05/24 17:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_775 +[05/24 17:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 775: 2/2 successful episodes +[05/24 17:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 777 (index 65/83) +[05/24 17:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_777_ceiling.xml +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=777, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 17:40:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 777 episode 0/1 collected=0/2 +[05/24 17:40:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 777 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_2_0_6 completed with success=False +[05/24 17:41:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_777: 1 episodes +[05/24 17:41:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_777 +[05/24 17:41:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_777 in 2.29s (batch: 2.18s, save: 0.11s) +[05/24 17:41:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_777 +[05/24 17:41:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 777: 0/1 successful episodes +[05/24 17:41:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 796 (index 66/83) +[05/24 17:41:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:41:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_796_ceiling.xml +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=796, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 108 objects +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:41:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 796 episode 0/1 collected=0/2 +[05/24 17:41:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 796 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_4 completed with success=True +[05/24 17:42:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_796: 1 episodes +[05/24 17:42:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:42:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_796 +[05/24 17:42:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_796 in 1.92s (batch: 1.89s, save: 0.03s) +[05/24 17:42:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_796 +[05/24 17:42:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 796: 1/1 successful episodes +[05/24 17:42:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 816 (index 67/83) +[05/24 17:42:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:42:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_816_ceiling.xml +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=816, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife' +[05/24 17:42:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 816 episode 0/2 collected=0/2 +[05/24 17:42:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 816 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_3_0_2 completed with success=False +[05/24 17:43:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_816_ceiling.xml +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=816, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:43:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 816 episode 1/2 collected=1/2 +[05/24 17:43:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 816 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:45:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_816: 2 episodes +[05/24 17:45:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_816 +[05/24 17:45:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_816 in 4.67s (batch: 4.50s, save: 0.16s) +[05/24 17:45:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_816 +[05/24 17:45:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 816: 0/2 successful episodes +[05/24 17:45:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 829 (index 68/83) +[05/24 17:45:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 829 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:45:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_829_ceiling.xml +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=829, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 5 objects +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:45:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 829 episode 0/1 collected=0/2 +[05/24 17:45:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 829 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:46:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_829: 1 episodes +[05/24 17:46:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_829 +[05/24 17:46:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_829 in 2.14s (batch: 2.05s, save: 0.09s) +[05/24 17:46:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_829 +[05/24 17:46:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 829: 0/1 successful episodes +[05/24 17:46:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 835 (index 69/83) +[05/24 17:46:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 835 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:46:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_835_ceiling.xml +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=835, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plastic cup' +[05/24 17:46:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 835 episode 0/2 collected=0/2 +[05/24 17:46:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 835 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True +[05/24 17:46:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_835_ceiling.xml +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=835, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife' +[05/24 17:46:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 835 episode 1/2 collected=1/2 +[05/24 17:46:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 835 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=True +[05/24 17:47:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_835: 2 episodes +[05/24 17:47:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:47:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:47:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_835 +[05/24 17:47:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_835 in 4.25s (batch: 4.20s, save: 0.05s) +[05/24 17:47:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_835 +[05/24 17:47:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 835: 2/2 successful episodes +[05/24 17:47:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 851 (index 70/83) +[05/24 17:47:08 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 851 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:47:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_851_ceiling.xml +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=851, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 17:47:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 851 episode 0/2 collected=0/2 +[05/24 17:47:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 851 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:48:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_851_ceiling.xml +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=851, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:48:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 851 episode 1/2 collected=1/2 +[05/24 17:48:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 851 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 17:49:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_851: 2 episodes +[05/24 17:49:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_851 +[05/24 17:49:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_851 in 4.61s (batch: 4.44s, save: 0.16s) +[05/24 17:49:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_851 +[05/24 17:49:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 851: 0/2 successful episodes +[05/24 17:49:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 864 (index 71/83) +[05/24 17:49:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 864 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:49:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_864_ceiling.xml +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=864, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:49:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 864 episode 0/1 collected=0/2 +[05/24 17:49:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 864 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 17:50:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_864: 1 episodes +[05/24 17:50:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 115 timesteps +[05/24 17:50:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_864 +[05/24 17:50:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_864 in 2.13s (batch: 2.08s, save: 0.05s) +[05/24 17:50:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_864 +[05/24 17:50:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 864: 1/1 successful episodes +[05/24 17:50:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 877 (index 72/83) +[05/24 17:50:10 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 877 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:50:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_877_ceiling.xml +[05/24 17:50:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=877, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:50:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the compact dark teal rectangular box' +[05/24 17:50:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 877 episode 0/2 collected=0/2 +[05/24 17:50:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 877 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:50:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_877_ceiling.xml +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=877, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black mug' +[05/24 17:50:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 877 episode 1/2 collected=1/2 +[05/24 17:50:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 877 episode 1 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_7 completed with success=True +[05/24 17:50:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_877: 2 episodes +[05/24 17:50:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 32 timesteps +[05/24 17:50:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:50:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_877 +[05/24 17:50:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_877 in 4.29s (batch: 4.24s, save: 0.05s) +[05/24 17:50:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_877 +[05/24 17:50:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 877: 2/2 successful episodes +[05/24 17:50:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 892 (index 73/83) +[05/24 17:50:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 892 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:50:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_892_ceiling.xml +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=892, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth tapered translucent plastic cup' +[05/24 17:50:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 892 episode 0/2 collected=0/2 +[05/24 17:50:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 892 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=True +[05/24 17:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_892_ceiling.xml +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=892, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:51:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 892 episode 1/2 collected=1/2 +[05/24 17:51:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 892 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:51:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_892: 2 episodes +[05/24 17:51:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:51:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_892 +[05/24 17:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_892 in 4.23s (batch: 4.18s, save: 0.06s) +[05/24 17:51:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_892 +[05/24 17:51:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 892: 2/2 successful episodes +[05/24 17:51:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 903 (index 74/83) +[05/24 17:51:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 903 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:51:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_903_ceiling.xml +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=903, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 110 objects +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:51:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 903 episode 0/2 collected=0/2 +[05/24 17:51:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 903 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 17:53:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_903_ceiling.xml +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=903, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 110 objects +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy smooth red apple' +[05/24 17:53:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 903 episode 1/2 collected=1/2 +[05/24 17:53:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 903 episode 1 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:55:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_903: 2 episodes +[05/24 17:55:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_903 +[05/24 17:55:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_903 in 4.14s (batch: 3.98s, save: 0.16s) +[05/24 17:55:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_903 +[05/24 17:55:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 903: 0/2 successful episodes +[05/24 17:55:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 905 (index 75/83) +[05/24 17:55:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:55:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_905_ceiling.xml +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=905, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:55:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 905 episode 0/1 collected=0/2 +[05/24 17:55:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 905 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:55:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_905: 1 episodes +[05/24 17:55:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:55:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_905 +[05/24 17:55:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_905 in 1.86s (batch: 1.83s, save: 0.03s) +[05/24 17:55:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_905 +[05/24 17:55:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 905: 1/1 successful episodes +[05/24 17:55:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 927 (index 76/83) +[05/24 17:55:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 927 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:55:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_927_ceiling.xml +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=927, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:55:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 927 episode 0/2 collected=0/2 +[05/24 17:55:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 927 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 17:56:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_927_ceiling.xml +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=927, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:56:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 927 episode 1/2 collected=1/2 +[05/24 17:56:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 927 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 17:56:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_927: 2 episodes +[05/24 17:56:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:56:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 135 timesteps +[05/24 17:56:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_927 +[05/24 17:56:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_927 in 3.81s (batch: 3.74s, save: 0.07s) +[05/24 17:56:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_927 +[05/24 17:56:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 927: 2/2 successful episodes +[05/24 17:56:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 928 (index 77/83) +[05/24 17:56:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_928_ceiling.xml +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=928, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:56:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 928 episode 0/1 collected=0/2 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 928 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:57:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_928: 1 episodes +[05/24 17:57:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:57:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_928 +[05/24 17:57:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/24 17:58:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_928 +[05/24 17:58:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 928: 0/1 successful episodes +[05/24 17:58:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 946 (index 78/83) +[05/24 17:58:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 946 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:58:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_946_ceiling.xml +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=946, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:58:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 946 episode 0/1 collected=0/2 +[05/24 17:58:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 946 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_3_0_9 completed with success=True +[05/24 17:58:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_946: 1 episodes +[05/24 17:58:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:58:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_946 +[05/24 17:58:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_946 in 2.15s (batch: 2.12s, save: 0.03s) +[05/24 17:58:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_946 +[05/24 17:58:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 946: 1/1 successful episodes +[05/24 17:58:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 957 (index 79/83) +[05/24 17:58:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:58:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_957_ceiling.xml +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=957, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:58:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 957 episode 0/2 collected=0/2 +[05/24 17:58:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 957 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:59:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_957_ceiling.xml +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=957, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the food turner' +[05/24 17:59:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 957 episode 1/2 collected=1/2 +[05/24 17:59:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 957 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 18:00:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_957: 2 episodes +[05/24 18:00:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 18:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_957 +[05/24 18:00:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_957 in 4.06s (batch: 3.95s, save: 0.11s) +[05/24 18:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_957 +[05/24 18:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 957: 1/2 successful episodes +[05/24 18:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 967 (index 80/83) +[05/24 18:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 967 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 18:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_967_ceiling.xml +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=967, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 18:00:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 967 episode 0/2 collected=0/2 +[05/24 18:00:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 967 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_5 completed with success=True +[05/24 18:00:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_967_ceiling.xml +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=967, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 18:00:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 967 episode 1/2 collected=1/2 +[05/24 18:00:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:02:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 967 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 18:02:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_967: 2 episodes +[05/24 18:02:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 176 timesteps +[05/24 18:02:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:02:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_967 +[05/24 18:02:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_967 in 4.66s (batch: 4.52s, save: 0.13s) +[05/24 18:02:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_967 +[05/24 18:02:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 967: 1/2 successful episodes +[05/24 18:02:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 974 (index 81/83) +[05/24 18:02:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 974 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 18:02:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_974_ceiling.xml +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=974, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 18:02:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 974 episode 0/1 collected=0/2 +[05/24 18:02:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 974 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_4 completed with success=False +[05/24 18:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_974: 1 episodes +[05/24 18:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_974 +[05/24 18:03:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_974 in 2.29s (batch: 2.20s, save: 0.09s) +[05/24 18:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_974 +[05/24 18:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 974: 0/1 successful episodes +[05/24 18:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 988 (index 82/83) +[05/24 18:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 18:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_988_ceiling.xml +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=988, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 18:03:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 988 episode 0/2 collected=0/2 +[05/24 18:03:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 988 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 18:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:04:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_988_ceiling.xml +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=988, scene_dataset=procthor-10k, data_split=val +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:04:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:04:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:04:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:04:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:04:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 18:04:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 988 episode 1/2 collected=1/2 +[05/24 18:04:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 988 episode 1 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 18:04:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_988: 2 episodes +[05/24 18:04:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:05:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 18:05:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_988 +[05/24 18:05:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_988 in 4.35s (batch: 4.24s, save: 0.11s) +[05/24 18:05:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_988 +[05/24 18:05:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 988: 1/2 successful episodes +[05/24 18:05:03 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:05:04 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:05:04 INFO pipeline.py:1499] Success count: 61, Total count: 125 +[05/24 18:05:04 INFO pipeline.py:1500] Success rate: 48.80% +Combined 125 episodes from 83 files → /tmp/tmpwabnwb8f.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/results.csv at-end: 48.8% | oracle: 48.8% of 125 episodes +[2026-05-24 18:05:13,022] INFO MolmoSpaces simulator eval finished: success=61/125 rate=0.4880 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval +[2026-05-24 18:05:13,022] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_03.launcher.log b/pick_msproc/pick_msproc/shards/shard_03.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..bf57ca447b8a03b0272ab964a3a99ea14ad23df7 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_03.launcher.log @@ -0,0 +1,2982 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,373] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,538] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,568] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 (source=arg) +[2026-05-24 15:59:56,725] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,184] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,412] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,413] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,900] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,954] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,992] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [4, + 26, + 39, + 51, + 57, + 78, + 79, + 93, + 107, + 118, + 119, + 137, + 148, + 163, + 171, + 186, + 206, + 218, + 228, + 237, + 251, + 265, + 271, + 293, + 297, + 316, + 322, + 338, + 339, + 357, + 368, + 384, + 388, + 403, + 411, + 431, + 433, + 459, + 461, + 484, + 485, + 500, + 520, + 526, + 538, + 546, + 559, + 564, + 579, + 584, + 607, + 613, + 627, + 635, + 652, + 660, + 674, + 681, + 696, + 718, + 729, + 735, + 751, + 756, + 779, + 780, + 802, + 817, + 833, + 836, + 853, + 873, + 878, + 893, + 906, + 907, + 929, + 931, + 948, + 958, + 969, + 979, + 991], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,996] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,184:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,184] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_4_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple with stem' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 4 episode 0/2 collected=0/2 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.320 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:53,874] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:54,304] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:00,094] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:09,201] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:09,205] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 16:07:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_4_ceiling.xml +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 16:07:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 4 episode 1/2 collected=1/2 +[05/24 16:07:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 16:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4: 2 episodes +[05/24 16:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:07:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:07:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_4 +[05/24 16:07:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:07:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4 +[05/24 16:07:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4: 1/2 successful episodes +[05/24 16:07:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 26 (index 1/83) +[05/24 16:07:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 26 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:07:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_26_ceiling.xml +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=26, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:07:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 26 episode 0/2 collected=0/2 +[05/24 16:07:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 26 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:09:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_26_ceiling.xml +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=26, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup' +[05/24 16:09:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 26 episode 1/2 collected=1/2 +[05/24 16:09:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 26 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_2_0_6 completed with success=True +[05/24 16:10:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_26: 2 episodes +[05/24 16:10:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 382 timesteps +[05/24 16:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_26 +[05/24 16:10:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_26 in 3.60s (batch: 3.45s, save: 0.15s) +[05/24 16:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_26 +[05/24 16:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 26: 1/2 successful episodes +[05/24 16:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 39 (index 2/83) +[05/24 16:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 39 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_39_ceiling.xml +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=39, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:10:31 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 16:10:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 39 episode 0/1 collected=0/2 +[05/24 16:10:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 39 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_4 completed with success=False +[05/24 16:11:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_39: 1 episodes +[05/24 16:11:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_39 +[05/24 16:12:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_39 in 2.53s (batch: 2.42s, save: 0.11s) +[05/24 16:12:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_39 +[05/24 16:12:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 39: 0/1 successful episodes +[05/24 16:12:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 51 (index 3/83) +[05/24 16:12:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 51 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:12:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_51_ceiling.xml +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=51, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:12:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 51 episode 0/1 collected=0/2 +[05/24 16:12:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 51 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:13:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_51: 1 episodes +[05/24 16:13:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_51 +[05/24 16:13:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_51 in 2.52s (batch: 2.42s, save: 0.10s) +[05/24 16:13:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_51 +[05/24 16:13:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 51: 0/1 successful episodes +[05/24 16:13:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 57 (index 4/83) +[05/24 16:13:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 57 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:13:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_57_ceiling.xml +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=57, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 57 episode 0/2 collected=0/2 +[05/24 16:13:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 57 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:13:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_57_ceiling.xml +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=57, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:13:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 57 episode 1/2 collected=1/2 +[05/24 16:13:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 57 episode 1 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_6 completed with success=False +[05/24 16:14:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_57: 2 episodes +[05/24 16:14:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_57 +[05/24 16:15:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_57 in 3.51s (batch: 3.41s, save: 0.11s) +[05/24 16:15:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_57 +[05/24 16:15:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 57: 1/2 successful episodes +[05/24 16:15:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 78 (index 5/83) +[05/24 16:15:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 78 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:15:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_78_ceiling.xml +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=78, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 16:15:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 78 episode 0/1 collected=0/2 +[05/24 16:15:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 78 episode 0 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:16:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_78: 1 episodes +[05/24 16:16:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_78 +[05/24 16:16:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_78 in 1.86s (batch: 1.77s, save: 0.10s) +[05/24 16:16:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_78 +[05/24 16:16:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 78: 0/1 successful episodes +[05/24 16:16:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 79 (index 6/83) +[05/24 16:16:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 79 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:16:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_79_ceiling.xml +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=79, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 115 objects +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 16:16:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 79 episode 0/2 collected=0/2 +[05/24 16:16:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 79 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 16:16:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_79_ceiling.xml +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=79, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 115 objects +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:16:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 79 episode 1/2 collected=1/2 +[05/24 16:16:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 79 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_3_0_2 completed with success=False +[05/24 16:18:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_79: 2 episodes +[05/24 16:18:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:18:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_79 +[05/24 16:18:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_79 in 3.57s (batch: 3.46s, save: 0.11s) +[05/24 16:18:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_79 +[05/24 16:18:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 79: 1/2 successful episodes +[05/24 16:18:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 93 (index 7/83) +[05/24 16:18:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 93 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:18:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_93_ceiling.xml +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=93, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:18:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 93 episode 0/2 collected=0/2 +[05/24 16:18:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 93 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:20:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_93_ceiling.xml +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=93, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:20:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 93 episode 1/2 collected=1/2 +[05/24 16:20:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 93 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 16:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_93: 2 episodes +[05/24 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_93 +[05/24 16:21:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_93 in 5.32s (batch: 5.13s, save: 0.20s) +[05/24 16:21:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_93 +[05/24 16:21:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 93: 0/2 successful episodes +[05/24 16:21:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 107 (index 8/83) +[05/24 16:21:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 107 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:21:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_107_ceiling.xml +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=107, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:21:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 107 episode 0/2 collected=0/2 +[05/24 16:21:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 107 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 16:21:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_107_ceiling.xml +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=107, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 16:21:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 107 episode 1/2 collected=1/2 +[05/24 16:21:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 107 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 16:22:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_107: 2 episodes +[05/24 16:22:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 16:22:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107 +[05/24 16:23:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_107 in 4.77s (batch: 4.66s, save: 0.11s) +[05/24 16:23:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_107 +[05/24 16:23:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 107: 1/2 successful episodes +[05/24 16:23:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 118 (index 9/83) +[05/24 16:23:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:23:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_118_ceiling.xml +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=118, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:23:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 118 episode 0/2 collected=0/2 +[05/24 16:23:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 118 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:24:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_118_ceiling.xml +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=118, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 16:24:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 118 episode 1/2 collected=1/2 +[05/24 16:24:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 118 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 16:24:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_118: 2 episodes +[05/24 16:24:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:24:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:24:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_118 +[05/24 16:24:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_118 in 4.66s (batch: 4.55s, save: 0.11s) +[05/24 16:24:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_118 +[05/24 16:24:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 118: 1/2 successful episodes +[05/24 16:24:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 119 (index 10/83) +[05/24 16:24:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 119 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:24:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_119_ceiling.xml +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=119, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 16:24:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 119 episode 0/1 collected=0/2 +[05/24 16:24:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 119 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=False +[05/24 16:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_119: 1 episodes +[05/24 16:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_119 +[05/24 16:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_119 in 2.55s (batch: 2.46s, save: 0.09s) +[05/24 16:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_119 +[05/24 16:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 119: 0/1 successful episodes +[05/24 16:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 137 (index 11/83) +[05/24 16:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 137 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:26:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_137_ceiling.xml +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=137, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:26:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 137 episode 0/2 collected=0/2 +[05/24 16:26:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 137 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:26:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_137_ceiling.xml +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=137, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:26:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 137 episode 1/2 collected=1/2 +[05/24 16:26:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 137 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 16:28:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_137: 2 episodes +[05/24 16:28:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 100 timesteps +[05/24 16:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_137 +[05/24 16:28:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_137 in 3.63s (batch: 3.50s, save: 0.13s) +[05/24 16:28:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_137 +[05/24 16:28:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 137: 1/2 successful episodes +[05/24 16:28:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 148 (index 12/83) +[05/24 16:28:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:28:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_148_ceiling.xml +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=148, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:28:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 148 episode 0/1 collected=0/2 +[05/24 16:28:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 148 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_148: 1 episodes +[05/24 16:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_148 +[05/24 16:29:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_148 in 2.47s (batch: 2.37s, save: 0.10s) +[05/24 16:29:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_148 +[05/24 16:29:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 148: 0/1 successful episodes +[05/24 16:29:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 163 (index 13/83) +[05/24 16:29:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:29:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_163_ceiling.xml +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=163, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:29:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 163 episode 0/1 collected=0/2 +[05/24 16:29:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 163 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=True +[05/24 16:29:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_163: 1 episodes +[05/24 16:29:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:29:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_163 +[05/24 16:29:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_163 in 2.32s (batch: 2.19s, save: 0.12s) +[05/24 16:30:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_163 +[05/24 16:30:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 163: 1/1 successful episodes +[05/24 16:30:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 171 (index 14/83) +[05/24 16:30:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 171 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:30:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_171_ceiling.xml +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=171, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:30:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 171 episode 0/2 collected=0/2 +[05/24 16:30:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 171 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:31:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_171_ceiling.xml +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=171, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:31:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 171 episode 1/2 collected=1/2 +[05/24 16:31:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 171 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:32:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_171: 2 episodes +[05/24 16:32:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 301 timesteps +[05/24 16:32:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_171 +[05/24 16:32:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_171 in 5.03s (batch: 4.88s, save: 0.15s) +[05/24 16:32:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_171 +[05/24 16:32:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 171: 1/2 successful episodes +[05/24 16:32:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 186 (index 15/83) +[05/24 16:32:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 186 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:32:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_186_ceiling.xml +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=186, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:32:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 186 episode 0/1 collected=0/2 +[05/24 16:32:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 186 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=False +[05/24 16:34:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_186: 1 episodes +[05/24 16:34:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:34:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_186 +[05/24 16:34:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_186 in 1.90s (batch: 1.81s, save: 0.09s) +[05/24 16:34:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_186 +[05/24 16:34:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 186: 0/1 successful episodes +[05/24 16:34:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 206 (index 16/83) +[05/24 16:34:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 206 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:34:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_206_ceiling.xml +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=206, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:34:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 206 episode 0/1 collected=0/2 +[05/24 16:34:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 206 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 16:35:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_206: 1 episodes +[05/24 16:35:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:35:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_206 +[05/24 16:35:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_206 in 1.63s (batch: 1.60s, save: 0.03s) +[05/24 16:35:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_206 +[05/24 16:35:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 206: 1/1 successful episodes +[05/24 16:35:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 218 (index 17/83) +[05/24 16:35:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:35:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_218_ceiling.xml +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=218, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:35:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 218 episode 0/2 collected=0/2 +[05/24 16:35:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 218 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:35:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_218_ceiling.xml +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=218, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte blue bowl' +[05/24 16:35:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 218 episode 1/2 collected=1/2 +[05/24 16:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 218 episode 1 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=True +[05/24 16:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_218: 2 episodes +[05/24 16:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:35:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:35:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_218 +[05/24 16:35:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_218 in 4.31s (batch: 4.26s, save: 0.05s) +[05/24 16:35:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_218 +[05/24 16:35:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 218: 2/2 successful episodes +[05/24 16:35:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 228 (index 18/83) +[05/24 16:35:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:35:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_228_ceiling.xml +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=228, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 16:35:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 228 episode 0/1 collected=0/2 +[05/24 16:35:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 228 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:36:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_228: 1 episodes +[05/24 16:36:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_228 +[05/24 16:36:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_228 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 16:36:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_228 +[05/24 16:36:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 228: 0/1 successful episodes +[05/24 16:36:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 237 (index 19/83) +[05/24 16:36:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:36:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_237_ceiling.xml +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 16:37:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 237 episode 0/2 collected=0/2 +[05/24 16:37:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 237 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_237_ceiling.xml +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:38:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 237 episode 1/2 collected=1/2 +[05/24 16:38:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 237 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:39:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_237: 2 episodes +[05/24 16:39:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_237 +[05/24 16:39:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_237 in 5.03s (batch: 4.86s, save: 0.17s) +[05/24 16:39:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_237 +[05/24 16:39:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 237: 0/2 successful episodes +[05/24 16:39:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 251 (index 20/83) +[05/24 16:39:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 251 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:39:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_251_ceiling.xml +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=251, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tableware' +[05/24 16:39:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 251 episode 0/1 collected=0/2 +[05/24 16:39:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 251 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_6 completed with success=False +[05/24 16:41:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_251: 1 episodes +[05/24 16:41:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_251 +[05/24 16:41:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_251 in 1.82s (batch: 1.73s, save: 0.08s) +[05/24 16:41:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_251 +[05/24 16:41:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 251: 0/1 successful episodes +[05/24 16:41:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 265 (index 21/83) +[05/24 16:41:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:41:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_265_ceiling.xml +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=265, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 16:41:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 265 episode 0/2 collected=0/2 +[05/24 16:41:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 265 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:41:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_265_ceiling.xml +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=265, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium red apple' +[05/24 16:41:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 265 episode 1/2 collected=1/2 +[05/24 16:41:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 265 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_6 completed with success=False +[05/24 16:42:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_265: 2 episodes +[05/24 16:42:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:42:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_265 +[05/24 16:42:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_265 in 3.62s (batch: 3.51s, save: 0.11s) +[05/24 16:42:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_265 +[05/24 16:42:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 265: 1/2 successful episodes +[05/24 16:42:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 271 (index 22/83) +[05/24 16:42:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 271 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:42:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_271_ceiling.xml +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=271, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:42:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 271 episode 0/1 collected=0/2 +[05/24 16:42:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 271 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:42:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_271: 1 episodes +[05/24 16:42:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:42:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_271 +[05/24 16:42:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_271 in 1.55s (batch: 1.52s, save: 0.03s) +[05/24 16:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_271 +[05/24 16:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 271: 1/1 successful episodes +[05/24 16:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 293 (index 23/83) +[05/24 16:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_293_ceiling.xml +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=293, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:42:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 293 episode 0/2 collected=0/2 +[05/24 16:42:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 293 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 16:44:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_293_ceiling.xml +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=293, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:44:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 293 episode 1/2 collected=1/2 +[05/24 16:44:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 293 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:45:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_293: 2 episodes +[05/24 16:45:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_293 +[05/24 16:45:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_293 in 5.05s (batch: 4.88s, save: 0.17s) +[05/24 16:45:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_293 +[05/24 16:45:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 293: 0/2 successful episodes +[05/24 16:45:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 297 (index 24/83) +[05/24 16:45:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:45:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_297_ceiling.xml +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=297, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cup' +[05/24 16:45:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 297 episode 0/1 collected=0/2 +[05/24 16:45:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 297 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_6 completed with success=True +[05/24 16:46:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_297: 1 episodes +[05/24 16:46:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:46:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_297 +[05/24 16:46:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_297 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 16:46:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_297 +[05/24 16:46:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 297: 1/1 successful episodes +[05/24 16:46:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 316 (index 25/83) +[05/24 16:46:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:46:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_316_ceiling.xml +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=316, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:46:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 316 episode 0/2 collected=0/2 +[05/24 16:46:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 316 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:47:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_316_ceiling.xml +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=316, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:47:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 316 episode 1/2 collected=1/2 +[05/24 16:47:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 316 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:48:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_316: 2 episodes +[05/24 16:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_316 +[05/24 16:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_316 in 4.74s (batch: 4.57s, save: 0.17s) +[05/24 16:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_316 +[05/24 16:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 316: 0/2 successful episodes +[05/24 16:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 322 (index 26/83) +[05/24 16:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_322_ceiling.xml +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=322, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:48:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 322 episode 0/1 collected=0/2 +[05/24 16:48:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 322 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:49:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_322: 1 episodes +[05/24 16:49:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:49:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_322 +[05/24 16:49:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_322 in 2.17s (batch: 2.14s, save: 0.03s) +[05/24 16:49:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_322 +[05/24 16:49:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 322: 1/1 successful episodes +[05/24 16:49:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 338 (index 27/83) +[05/24 16:49:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:49:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_338_ceiling.xml +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=338, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:49:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 338 episode 0/1 collected=0/2 +[05/24 16:49:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 338 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 16:49:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_338: 1 episodes +[05/24 16:49:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:49:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_338 +[05/24 16:49:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_338 in 2.23s (batch: 2.19s, save: 0.04s) +[05/24 16:49:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_338 +[05/24 16:49:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 338: 1/1 successful episodes +[05/24 16:49:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 339 (index 28/83) +[05/24 16:49:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:49:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_339_ceiling.xml +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=339, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:49:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 339 episode 0/2 collected=0/2 +[05/24 16:49:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 339 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:51:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_339_ceiling.xml +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=339, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 16:51:21 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentality' +[05/24 16:51:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 339 episode 1/2 collected=1/2 +[05/24 16:51:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 339 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_5 completed with success=True +[05/24 16:51:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_339: 2 episodes +[05/24 16:51:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 37 timesteps +[05/24 16:51:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:36 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_339 +[05/24 16:51:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_339 in 3.39s (batch: 3.28s, save: 0.11s) +[05/24 16:51:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_339 +[05/24 16:51:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 339: 1/2 successful episodes +[05/24 16:51:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 357 (index 29/83) +[05/24 16:51:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:51:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_357_ceiling.xml +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=357, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:51:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 357 episode 0/1 collected=0/2 +[05/24 16:51:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 357 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:51:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_357: 1 episodes +[05/24 16:51:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:51:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_357 +[05/24 16:51:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_357 in 2.26s (batch: 2.20s, save: 0.06s) +[05/24 16:51:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_357 +[05/24 16:51:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 357: 1/1 successful episodes +[05/24 16:51:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 368 (index 30/83) +[05/24 16:51:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 368 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:51:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_368_ceiling.xml +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=368, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:52:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 368 episode 0/2 collected=0/2 +[05/24 16:52:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 368 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 16:53:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_368_ceiling.xml +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=368, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:54:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 368 episode 1/2 collected=1/2 +[05/24 16:54:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 368 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_11 completed with success=True +[05/24 16:54:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_368: 2 episodes +[05/24 16:54:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:54:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_368 +[05/24 16:54:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_368 in 3.42s (batch: 3.30s, save: 0.13s) +[05/24 16:54:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_368 +[05/24 16:54:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 368: 1/2 successful episodes +[05/24 16:54:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 384 (index 31/83) +[05/24 16:54:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:54:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_384_ceiling.xml +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=384, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 16:54:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:54:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 384 episode 0/2 collected=0/2 +[05/24 16:54:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 16:55:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_384_ceiling.xml +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=384, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue translucent soap bottle with pump' +[05/24 16:56:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 384 episode 1/2 collected=1/2 +[05/24 16:56:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_6 completed with success=True +[05/24 16:56:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_384: 2 episodes +[05/24 16:56:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 222 timesteps +[05/24 16:56:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_384 +[05/24 16:56:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_384 in 3.53s (batch: 3.40s, save: 0.14s) +[05/24 16:56:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_384 +[05/24 16:56:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 384: 1/2 successful episodes +[05/24 16:56:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 388 (index 32/83) +[05/24 16:56:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:56:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_388_ceiling.xml +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=388, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 16:56:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 388 episode 0/1 collected=0/2 +[05/24 16:56:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 388 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 16:57:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_388: 1 episodes +[05/24 16:57:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:57:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_388 +[05/24 16:57:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_388 in 2.15s (batch: 2.12s, save: 0.03s) +[05/24 16:57:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_388 +[05/24 16:57:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 388: 1/1 successful episodes +[05/24 16:57:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 403 (index 33/83) +[05/24 16:57:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:57:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_403_ceiling.xml +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=403, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 120 objects +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:57:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 403 episode 0/2 collected=0/2 +[05/24 16:57:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 403 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_5 completed with success=True +[05/24 16:57:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_403_ceiling.xml +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=403, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 120 objects +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:58:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 403 episode 1/2 collected=1/2 +[05/24 16:58:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 403 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_3_0_8 completed with success=True +[05/24 16:58:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_403: 2 episodes +[05/24 16:58:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 160 timesteps +[05/24 16:58:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:58:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_403 +[05/24 16:58:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_403 in 4.45s (batch: 4.37s, save: 0.08s) +[05/24 16:58:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_403 +[05/24 16:58:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 403: 2/2 successful episodes +[05/24 16:58:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 411 (index 34/83) +[05/24 16:58:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 411 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:58:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_411_ceiling.xml +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=411, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:58:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:58:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 411 episode 0/1 collected=0/2 +[05/24 16:58:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 411 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 16:58:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_411: 1 episodes +[05/24 16:58:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:58:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_411 +[05/24 16:58:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_411 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 16:58:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_411 +[05/24 16:58:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 411: 1/1 successful episodes +[05/24 16:58:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 431 (index 35/83) +[05/24 16:58:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:58:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_431_ceiling.xml +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=431, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:58:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 431 episode 0/1 collected=0/2 +[05/24 16:58:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 431 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:59:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_431: 1 episodes +[05/24 16:59:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/24 16:59:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_431 +[05/24 16:59:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_431 in 2.25s (batch: 2.21s, save: 0.04s) +[05/24 16:59:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_431 +[05/24 16:59:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 431: 1/1 successful episodes +[05/24 16:59:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 433 (index 36/83) +[05/24 16:59:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:59:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_433_ceiling.xml +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=433, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:59:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 433 episode 0/2 collected=0/2 +[05/24 16:59:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 433 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:00:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_433_ceiling.xml +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=433, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:00:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 433 episode 1/2 collected=1/2 +[05/24 17:00:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 433 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:00:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_433: 2 episodes +[05/24 17:00:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 17:00:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_433 +[05/24 17:00:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_433 in 4.59s (batch: 4.47s, save: 0.12s) +[05/24 17:00:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_433 +[05/24 17:00:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 433: 1/2 successful episodes +[05/24 17:00:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 459 (index 37/83) +[05/24 17:00:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:00:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_459_ceiling.xml +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=459, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 17:00:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 459 episode 0/1 collected=0/2 +[05/24 17:00:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 459 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=False +[05/24 17:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_459: 1 episodes +[05/24 17:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_459 +[05/24 17:02:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_459 in 2.62s (batch: 2.53s, save: 0.09s) +[05/24 17:02:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_459 +[05/24 17:02:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 459: 0/1 successful episodes +[05/24 17:02:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 461 (index 38/83) +[05/24 17:02:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 461 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:02:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_461_ceiling.xml +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=461, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:02:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 461 episode 0/2 collected=0/2 +[05/24 17:02:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 461 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:02:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_461_ceiling.xml +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=461, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:02:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 461 episode 1/2 collected=1/2 +[05/24 17:02:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 461 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 17:03:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_461: 2 episodes +[05/24 17:03:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 249 timesteps +[05/24 17:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_461 +[05/24 17:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_461 in 4.42s (batch: 4.34s, save: 0.08s) +[05/24 17:03:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_461 +[05/24 17:03:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 461: 2/2 successful episodes +[05/24 17:03:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 484 (index 39/83) +[05/24 17:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:03:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_484_ceiling.xml +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=484, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:03:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 484 episode 0/1 collected=0/2 +[05/24 17:03:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 484 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:03:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_484: 1 episodes +[05/24 17:03:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 229 timesteps +[05/24 17:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_484 +[05/24 17:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_484 in 1.68s (batch: 1.63s, save: 0.06s) +[05/24 17:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_484 +[05/24 17:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 484: 1/1 successful episodes +[05/24 17:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 485 (index 40/83) +[05/24 17:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_485_ceiling.xml +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=485, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 17:04:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 485 episode 0/2 collected=0/2 +[05/24 17:04:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 485 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 17:04:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_485_ceiling.xml +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=485, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:04:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 485 episode 1/2 collected=1/2 +[05/24 17:04:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 485 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=True +[05/24 17:04:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_485: 2 episodes +[05/24 17:04:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:04:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 66 timesteps +[05/24 17:04:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:42 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_485 +[05/24 17:04:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_485 in 4.37s (batch: 4.31s, save: 0.06s) +[05/24 17:04:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_485 +[05/24 17:04:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 485: 2/2 successful episodes +[05/24 17:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 500 (index 41/83) +[05/24 17:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_500_ceiling.xml +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=500, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:04:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 500 episode 0/1 collected=0/2 +[05/24 17:04:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 500 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 17:05:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_500: 1 episodes +[05/24 17:05:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_500 +[05/24 17:06:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_500 in 2.52s (batch: 2.43s, save: 0.09s) +[05/24 17:06:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_500 +[05/24 17:06:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 500: 0/1 successful episodes +[05/24 17:06:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 520 (index 42/83) +[05/24 17:06:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 520 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:06:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_520_ceiling.xml +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=520, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:06:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 520 episode 0/1 collected=0/2 +[05/24 17:06:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 520 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:06:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_520: 1 episodes +[05/24 17:06:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:06:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_520 +[05/24 17:06:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_520 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:06:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_520 +[05/24 17:06:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 520: 1/1 successful episodes +[05/24 17:06:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 526 (index 43/83) +[05/24 17:06:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 526 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:06:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_526_ceiling.xml +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=526, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:06:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 526 episode 0/2 collected=0/2 +[05/24 17:06:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 526 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=True +[05/24 17:06:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_526_ceiling.xml +[05/24 17:06:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=526, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:06:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:06:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 526 episode 1/2 collected=1/2 +[05/24 17:06:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 526 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 17:08:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_526: 2 episodes +[05/24 17:08:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 109 timesteps +[05/24 17:08:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_526 +[05/24 17:08:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_526 in 4.66s (batch: 4.54s, save: 0.12s) +[05/24 17:08:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_526 +[05/24 17:08:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 526: 1/2 successful episodes +[05/24 17:08:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 538 (index 44/83) +[05/24 17:08:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:08:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_538_ceiling.xml +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=538, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent plastic cup' +[05/24 17:08:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 538 episode 0/1 collected=0/2 +[05/24 17:08:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 538 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=True +[05/24 17:09:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_538: 1 episodes +[05/24 17:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 390 timesteps +[05/24 17:09:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_538 +[05/24 17:09:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_538 in 1.83s (batch: 1.75s, save: 0.08s) +[05/24 17:09:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_538 +[05/24 17:09:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 538: 1/1 successful episodes +[05/24 17:09:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 546 (index 45/83) +[05/24 17:09:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:09:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_546_ceiling.xml +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=546, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:09:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 546 episode 0/2 collected=0/2 +[05/24 17:09:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 546 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 17:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_546_ceiling.xml +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=546, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the bowl' +[05/24 17:10:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 546 episode 1/2 collected=1/2 +[05/24 17:10:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 546 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_2_0_6 completed with success=False +[05/24 17:11:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_546: 2 episodes +[05/24 17:11:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:11:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:11:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_546 +[05/24 17:11:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_546 in 4.61s (batch: 4.49s, save: 0.12s) +[05/24 17:11:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_546 +[05/24 17:11:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 546: 1/2 successful episodes +[05/24 17:11:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 559 (index 46/83) +[05/24 17:11:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 559 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:11:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_559_ceiling.xml +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=559, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper box' +[05/24 17:11:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 559 episode 0/2 collected=0/2 +[05/24 17:11:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 559 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:13:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_559_ceiling.xml +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=559, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 559 episode 1/2 collected=1/2 +[05/24 17:13:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 559 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=False +[05/24 17:14:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_559: 2 episodes +[05/24 17:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_559 +[05/24 17:14:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_559 in 3.74s (batch: 3.58s, save: 0.17s) +[05/24 17:14:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_559 +[05/24 17:14:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 559: 0/2 successful episodes +[05/24 17:14:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 564 (index 47/83) +[05/24 17:14:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 564 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:14:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_564_ceiling.xml +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=564, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife' +[05/24 17:14:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 564 episode 0/1 collected=0/2 +[05/24 17:14:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 564 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=True +[05/24 17:15:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_564: 1 episodes +[05/24 17:15:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/24 17:15:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_564 +[05/24 17:15:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_564 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 17:15:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_564 +[05/24 17:15:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 564: 1/1 successful episodes +[05/24 17:15:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 579 (index 48/83) +[05/24 17:15:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:15:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_579_ceiling.xml +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=579, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:15:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 579 episode 0/2 collected=0/2 +[05/24 17:15:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 17:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_579_ceiling.xml +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=579, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:15:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 579 episode 1/2 collected=1/2 +[05/24 17:15:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_3_0_6 completed with success=False +[05/24 17:17:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_579: 2 episodes +[05/24 17:17:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:17:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_579 +[05/24 17:17:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_579 in 3.55s (batch: 3.44s, save: 0.11s) +[05/24 17:17:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_579 +[05/24 17:17:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 579: 1/2 successful episodes +[05/24 17:17:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 584 (index 49/83) +[05/24 17:17:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:17:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_584_ceiling.xml +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=584, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shallow wooden bowl' +[05/24 17:17:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 584 episode 0/1 collected=0/2 +[05/24 17:17:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 584 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 17:17:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_584: 1 episodes +[05/24 17:17:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/24 17:17:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_584 +[05/24 17:17:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_584 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:17:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_584 +[05/24 17:17:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 584: 1/1 successful episodes +[05/24 17:17:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 607 (index 50/83) +[05/24 17:17:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 607 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:17:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_607_ceiling.xml +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=607, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:17:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 607 episode 0/1 collected=0/2 +[05/24 17:17:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 607 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 17:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_607: 1 episodes +[05/24 17:19:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_607 +[05/24 17:19:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_607 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_607 +[05/24 17:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 607: 0/1 successful episodes +[05/24 17:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 613 (index 51/83) +[05/24 17:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_613_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=613, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 613 episode 0/2 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 613 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:20:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_613_ceiling.xml +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=613, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:20:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 613 episode 1/2 collected=1/2 +[05/24 17:20:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 613 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:22:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_613: 2 episodes +[05/24 17:22:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_613 +[05/24 17:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_613 in 5.07s (batch: 4.90s, save: 0.17s) +[05/24 17:22:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_613 +[05/24 17:22:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 613: 0/2 successful episodes +[05/24 17:22:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 627 (index 52/83) +[05/24 17:22:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:22:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_627_ceiling.xml +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=627, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:22:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 627 episode 0/1 collected=0/2 +[05/24 17:22:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 627 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 17:23:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_627: 1 episodes +[05/24 17:23:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_627 +[05/24 17:23:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_627 in 2.48s (batch: 2.39s, save: 0.09s) +[05/24 17:23:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_627 +[05/24 17:23:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 627: 0/1 successful episodes +[05/24 17:23:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 635 (index 53/83) +[05/24 17:23:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:23:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_635_ceiling.xml +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=635, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:23:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 635 episode 0/2 collected=0/2 +[05/24 17:23:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 17:24:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_635_ceiling.xml +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=635, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:24:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 635 episode 1/2 collected=1/2 +[05/24 17:24:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=True +[05/24 17:24:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_635: 2 episodes +[05/24 17:24:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:24:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_635 +[05/24 17:24:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_635 in 3.85s (batch: 3.79s, save: 0.06s) +[05/24 17:24:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_635 +[05/24 17:24:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 635: 2/2 successful episodes +[05/24 17:24:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 652 (index 54/83) +[05/24 17:24:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 652 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:24:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_652_ceiling.xml +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=652, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:24:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 652 episode 0/2 collected=0/2 +[05/24 17:24:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 652 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:25:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_652_ceiling.xml +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=652, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:25:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 652 episode 1/2 collected=1/2 +[05/24 17:25:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 652 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 17:26:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_652: 2 episodes +[05/24 17:26:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:26:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_652 +[05/24 17:26:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_652 in 3.44s (batch: 3.31s, save: 0.13s) +[05/24 17:26:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_652 +[05/24 17:26:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 652: 1/2 successful episodes +[05/24 17:26:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 660 (index 55/83) +[05/24 17:26:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 660 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:26:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_660_ceiling.xml +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=660, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:26:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 660 episode 0/1 collected=0/2 +[05/24 17:26:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 660 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:26:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_660: 1 episodes +[05/24 17:26:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 142 timesteps +[05/24 17:26:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_660 +[05/24 17:26:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_660 in 1.63s (batch: 1.59s, save: 0.04s) +[05/24 17:26:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_660 +[05/24 17:26:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 660: 1/1 successful episodes +[05/24 17:26:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 674 (index 56/83) +[05/24 17:26:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 674 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:26:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_674_ceiling.xml +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=674, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 17:26:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 674 episode 0/1 collected=0/2 +[05/24 17:26:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 674 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_2_0_5 completed with success=True +[05/24 17:27:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_674: 1 episodes +[05/24 17:27:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_674 +[05/24 17:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_674 in 1.56s (batch: 1.53s, save: 0.03s) +[05/24 17:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_674 +[05/24 17:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 674: 1/1 successful episodes +[05/24 17:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 681 (index 57/83) +[05/24 17:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 681 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_681_ceiling.xml +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=681, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:27:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 681 episode 0/2 collected=0/2 +[05/24 17:27:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 681 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:27:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_681_ceiling.xml +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=681, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 17:27:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 681 episode 1/2 collected=1/2 +[05/24 17:27:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 681 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_8 completed with success=True +[05/24 17:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_681: 2 episodes +[05/24 17:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 129 timesteps +[05/24 17:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_681 +[05/24 17:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_681 in 4.46s (batch: 4.39s, save: 0.07s) +[05/24 17:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_681 +[05/24 17:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 681: 2/2 successful episodes +[05/24 17:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 696 (index 58/83) +[05/24 17:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:27:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_696_ceiling.xml +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=696, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper box' +[05/24 17:28:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 696 episode 0/1 collected=0/2 +[05/24 17:28:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 696 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=True +[05/24 17:28:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_696: 1 episodes +[05/24 17:28:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_696 +[05/24 17:28:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_696 in 2.23s (batch: 2.21s, save: 0.03s) +[05/24 17:28:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_696 +[05/24 17:28:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 696: 1/1 successful episodes +[05/24 17:28:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 718 (index 59/83) +[05/24 17:28:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:28:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_718_ceiling.xml +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=718, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 87 objects +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:28:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 718 episode 0/1 collected=0/2 +[05/24 17:28:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 718 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:29:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_718: 1 episodes +[05/24 17:29:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 268 timesteps +[05/24 17:29:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_718 +[05/24 17:29:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_718 in 2.31s (batch: 2.25s, save: 0.06s) +[05/24 17:29:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_718 +[05/24 17:29:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 718: 1/1 successful episodes +[05/24 17:29:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 729 (index 60/83) +[05/24 17:29:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:29:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_729_ceiling.xml +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=729, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:29:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 729 episode 0/2 collected=0/2 +[05/24 17:29:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:29:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_729_ceiling.xml +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=729, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:29:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 729 episode 1/2 collected=1/2 +[05/24 17:29:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:29:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_729: 2 episodes +[05/24 17:29:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:29:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:29:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_729 +[05/24 17:29:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_729 in 3.16s (batch: 3.10s, save: 0.06s) +[05/24 17:29:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_729 +[05/24 17:29:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 729: 2/2 successful episodes +[05/24 17:29:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 735 (index 61/83) +[05/24 17:29:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:29:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_735_ceiling.xml +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=735, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:29:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 735 episode 0/1 collected=0/2 +[05/24 17:29:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 735 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:30:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_735: 1 episodes +[05/24 17:30:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_735 +[05/24 17:30:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_735 in 1.87s (batch: 1.78s, save: 0.09s) +[05/24 17:30:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_735 +[05/24 17:30:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 735: 0/1 successful episodes +[05/24 17:30:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 751 (index 62/83) +[05/24 17:30:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 751 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:30:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_751_ceiling.xml +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=751, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 17:31:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 751 episode 0/2 collected=0/2 +[05/24 17:31:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 751 episode 0 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 17:32:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_751_ceiling.xml +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=751, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:32:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 751 episode 1/2 collected=1/2 +[05/24 17:32:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 751 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:33:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_751: 2 episodes +[05/24 17:33:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_751 +[05/24 17:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_751 in 4.76s (batch: 4.59s, save: 0.17s) +[05/24 17:33:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_751 +[05/24 17:33:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 751: 0/2 successful episodes +[05/24 17:33:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 756 (index 63/83) +[05/24 17:33:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 756 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:33:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_756_ceiling.xml +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=756, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:33:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 756 episode 0/1 collected=0/2 +[05/24 17:33:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 756 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:35:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_756: 1 episodes +[05/24 17:35:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:35:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_756 +[05/24 17:35:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_756 in 2.46s (batch: 2.36s, save: 0.09s) +[05/24 17:35:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_756 +[05/24 17:35:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 756: 0/1 successful episodes +[05/24 17:35:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 779 (index 64/83) +[05/24 17:35:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 779 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:35:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_779_ceiling.xml +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=779, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:35:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 779 episode 0/1 collected=0/2 +[05/24 17:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 779 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_4 completed with success=True +[05/24 17:35:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_779: 1 episodes +[05/24 17:35:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 17:35:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_779 +[05/24 17:35:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_779 in 2.23s (batch: 2.20s, save: 0.03s) +[05/24 17:35:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_779 +[05/24 17:35:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 779: 1/1 successful episodes +[05/24 17:35:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 780 (index 65/83) +[05/24 17:35:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 780 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:35:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_780_ceiling.xml +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=780, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 17:35:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 780 episode 0/2 collected=0/2 +[05/24 17:35:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 780 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:35:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_780_ceiling.xml +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=780, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:35:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 780 episode 1/2 collected=1/2 +[05/24 17:35:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 780 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:37:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_780: 2 episodes +[05/24 17:37:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:37:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_780 +[05/24 17:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_780 in 3.59s (batch: 3.49s, save: 0.11s) +[05/24 17:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_780 +[05/24 17:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 780: 1/2 successful episodes +[05/24 17:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 802 (index 66/83) +[05/24 17:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_802_ceiling.xml +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=802, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:37:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 802 episode 0/1 collected=0/2 +[05/24 17:37:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 802 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:37:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_802: 1 episodes +[05/24 17:37:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:37:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_802 +[05/24 17:37:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_802 in 2.32s (batch: 2.24s, save: 0.08s) +[05/24 17:37:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_802 +[05/24 17:37:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 802: 1/1 successful episodes +[05/24 17:37:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 817 (index 67/83) +[05/24 17:37:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 817 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_817_ceiling.xml +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=817, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 17:37:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 817 episode 0/2 collected=0/2 +[05/24 17:37:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 817 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:38:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_817_ceiling.xml +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=817, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:38:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 817 episode 1/2 collected=1/2 +[05/24 17:38:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 817 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=False +[05/24 17:39:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_817: 2 episodes +[05/24 17:39:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_817 +[05/24 17:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_817 in 4.12s (batch: 3.95s, save: 0.16s) +[05/24 17:40:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_817 +[05/24 17:40:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 817: 0/2 successful episodes +[05/24 17:40:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 833 (index 68/83) +[05/24 17:40:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 833 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:40:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_833_ceiling.xml +[05/24 17:40:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=833, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:40:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 17:40:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 833 episode 0/1 collected=0/2 +[05/24 17:40:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 833 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_3 completed with success=False +[05/24 17:41:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_833: 1 episodes +[05/24 17:41:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_833 +[05/24 17:41:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_833 in 1.78s (batch: 1.70s, save: 0.08s) +[05/24 17:41:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_833 +[05/24 17:41:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 833: 0/1 successful episodes +[05/24 17:41:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 836 (index 69/83) +[05/24 17:41:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:41:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_836_ceiling.xml +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=836, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:41:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 836 episode 0/2 collected=0/2 +[05/24 17:41:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 836 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:41:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_836_ceiling.xml +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=836, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dish' +[05/24 17:42:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 836 episode 1/2 collected=1/2 +[05/24 17:42:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 836 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 17:43:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_836: 2 episodes +[05/24 17:43:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_836 +[05/24 17:43:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_836 in 4.71s (batch: 4.59s, save: 0.12s) +[05/24 17:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_836 +[05/24 17:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 836: 1/2 successful episodes +[05/24 17:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 853 (index 70/83) +[05/24 17:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_853_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=853, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 853 episode 0/2 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:44:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_853_ceiling.xml +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=853, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 17:44:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 853 episode 1/2 collected=1/2 +[05/24 17:44:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=False +[05/24 17:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_853: 2 episodes +[05/24 17:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_853 +[05/24 17:46:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_853 in 4.94s (batch: 4.76s, save: 0.18s) +[05/24 17:46:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_853 +[05/24 17:46:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 853: 0/2 successful episodes +[05/24 17:46:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 873 (index 71/83) +[05/24 17:46:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 873 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:46:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_873_ceiling.xml +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=873, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:46:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 873 episode 0/1 collected=0/2 +[05/24 17:46:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 873 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 17:46:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_873: 1 episodes +[05/24 17:46:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:46:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_873 +[05/24 17:46:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_873 in 1.58s (batch: 1.55s, save: 0.03s) +[05/24 17:46:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_873 +[05/24 17:46:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 873: 1/1 successful episodes +[05/24 17:46:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 878 (index 72/83) +[05/24 17:46:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:46:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_878_ceiling.xml +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=878, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:46:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 878 episode 0/2 collected=0/2 +[05/24 17:46:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 878 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_4 completed with success=True +[05/24 17:46:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_878_ceiling.xml +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=878, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:46:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 878 episode 1/2 collected=1/2 +[05/24 17:46:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 878 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:47:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_878: 2 episodes +[05/24 17:47:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:48:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_878 +[05/24 17:48:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_878 in 4.67s (batch: 4.56s, save: 0.11s) +[05/24 17:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_878 +[05/24 17:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 878: 1/2 successful episodes +[05/24 17:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 893 (index 73/83) +[05/24 17:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 893 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_893_ceiling.xml +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=893, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:48:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 893 episode 0/2 collected=0/2 +[05/24 17:48:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 893 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 17:48:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_893_ceiling.xml +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=893, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:48:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:48:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 893 episode 1/2 collected=1/2 +[05/24 17:48:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 893 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 17:48:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_893: 2 episodes +[05/24 17:48:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/24 17:48:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_893 +[05/24 17:48:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_893 in 4.42s (batch: 4.35s, save: 0.06s) +[05/24 17:48:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_893 +[05/24 17:48:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 893: 2/2 successful episodes +[05/24 17:48:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 906 (index 74/83) +[05/24 17:48:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 906 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:48:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_906_ceiling.xml +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=906, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow bowl' +[05/24 17:48:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 906 episode 0/1 collected=0/2 +[05/24 17:48:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 906 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_2_0_7 completed with success=True +[05/24 17:49:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_906: 1 episodes +[05/24 17:49:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 17:49:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_906 +[05/24 17:49:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_906 in 2.18s (batch: 2.15s, save: 0.03s) +[05/24 17:49:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_906 +[05/24 17:49:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 906: 1/1 successful episodes +[05/24 17:49:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 907 (index 75/83) +[05/24 17:49:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:49:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_907_ceiling.xml +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=907, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork' +[05/24 17:49:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 907 episode 0/2 collected=0/2 +[05/24 17:49:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 907 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:50:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_907_ceiling.xml +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=907, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 17:50:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 907 episode 1/2 collected=1/2 +[05/24 17:50:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 907 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 17:52:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_907: 2 episodes +[05/24 17:52:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_907 +[05/24 17:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_907 in 3.89s (batch: 3.72s, save: 0.17s) +[05/24 17:52:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_907 +[05/24 17:52:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 907: 0/2 successful episodes +[05/24 17:52:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 929 (index 76/83) +[05/24 17:52:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:52:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_929_ceiling.xml +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=929, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:52:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 929 episode 0/2 collected=0/2 +[05/24 17:52:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 929 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=True +[05/24 17:52:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_929_ceiling.xml +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=929, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:52:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 929 episode 1/2 collected=1/2 +[05/24 17:52:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 929 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 17:53:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_929: 2 episodes +[05/24 17:53:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:53:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_929 +[05/24 17:54:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_929 in 3.54s (batch: 3.42s, save: 0.12s) +[05/24 17:54:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_929 +[05/24 17:54:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 929: 1/2 successful episodes +[05/24 17:54:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 931 (index 77/83) +[05/24 17:54:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 931 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:54:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_931_ceiling.xml +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=931, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:54:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with bronze pump' +[05/24 17:54:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 931 episode 0/1 collected=0/2 +[05/24 17:54:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 931 episode 0 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_6 completed with success=True +[05/24 17:54:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_931: 1 episodes +[05/24 17:54:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:54:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_931 +[05/24 17:54:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_931 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 17:54:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_931 +[05/24 17:54:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 931: 1/1 successful episodes +[05/24 17:54:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 948 (index 78/83) +[05/24 17:54:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 948 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:54:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_948_ceiling.xml +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=948, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:54:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 948 episode 0/1 collected=0/2 +[05/24 17:54:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 948 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:55:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_948: 1 episodes +[05/24 17:55:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_948 +[05/24 17:55:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_948 in 1.82s (batch: 1.74s, save: 0.08s) +[05/24 17:55:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_948 +[05/24 17:55:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 948: 0/1 successful episodes +[05/24 17:55:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 958 (index 79/83) +[05/24 17:55:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 958 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:55:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_958_ceiling.xml +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=958, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple' +[05/24 17:55:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 958 episode 0/2 collected=0/2 +[05/24 17:55:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 958 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 17:57:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_958_ceiling.xml +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=958, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 958 episode 1/2 collected=1/2 +[05/24 17:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 958 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 17:57:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_958: 2 episodes +[05/24 17:57:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:57:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:57:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_958 +[05/24 17:57:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_958 in 4.56s (batch: 4.45s, save: 0.11s) +[05/24 17:57:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_958 +[05/24 17:57:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 958: 1/2 successful episodes +[05/24 17:57:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 969 (index 80/83) +[05/24 17:57:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_969_ceiling.xml +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=969, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:57:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 969 episode 0/2 collected=0/2 +[05/24 17:57:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 969 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:58:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_969_ceiling.xml +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=969, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle with handle' +[05/24 17:58:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 969 episode 1/2 collected=1/2 +[05/24 17:58:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 969 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 17:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_969: 2 episodes +[05/24 17:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:58:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 85 timesteps +[05/24 17:58:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_969 +[05/24 17:58:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_969 in 3.24s (batch: 3.17s, save: 0.06s) +[05/24 17:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_969 +[05/24 17:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 969: 2/2 successful episodes +[05/24 17:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 979 (index 81/83) +[05/24 17:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 979 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:58:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_979_ceiling.xml +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=979, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:58:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 979 episode 0/1 collected=0/2 +[05/24 17:58:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 979 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=False +[05/24 18:00:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_979: 1 episodes +[05/24 18:00:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_979 +[05/24 18:00:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_979 in 1.85s (batch: 1.75s, save: 0.10s) +[05/24 18:00:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_979 +[05/24 18:00:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 979: 0/1 successful episodes +[05/24 18:00:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 991 (index 82/83) +[05/24 18:00:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 18:00:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_991_ceiling.xml +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=991, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 18:00:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 991 episode 0/2 collected=0/2 +[05/24 18:00:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 991 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_11 completed with success=False +[05/24 18:01:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_991_ceiling.xml +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=991, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 18:01:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 991 episode 1/2 collected=1/2 +[05/24 18:01:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:01:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 991 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 18:03:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_991: 2 episodes +[05/24 18:03:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991 +[05/24 18:03:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_991 in 4.89s (batch: 4.71s, save: 0.18s) +[05/24 18:03:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_991 +[05/24 18:03:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 991: 0/2 successful episodes +[05/24 18:03:19 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:03:20 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:03:20 INFO pipeline.py:1499] Success count: 64, Total count: 125 +[05/24 18:03:20 INFO pipeline.py:1500] Success rate: 51.20% +Combined 125 episodes from 83 files → /tmp/tmp4_vydajs.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv at-end: 51.2% | oracle: 51.2% of 125 episodes +[2026-05-24 18:03:28,862] INFO MolmoSpaces simulator eval finished: success=64/125 rate=0.5120 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval +[2026-05-24 18:03:28,862] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_04.launcher.log b/pick_msproc/pick_msproc/shards/shard_04.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..09ce78caf291c13d38d4379fffb5ffbce9ea1a23 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_04.launcher.log @@ -0,0 +1,2989 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,452] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,506] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,541] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 (source=arg) +[2026-05-24 15:59:56,732] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,058] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:44,009] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:44,009] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,393] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,447] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,495] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [10, + 27, + 42, + 54, + 58, + 80, + 83, + 94, + 108, + 122, + 123, + 143, + 149, + 165, + 176, + 190, + 207, + 220, + 235, + 239, + 252, + 266, + 273, + 298, + 302, + 318, + 324, + 341, + 344, + 359, + 372, + 385, + 396, + 409, + 414, + 436, + 437, + 464, + 466, + 487, + 488, + 501, + 521, + 533, + 539, + 547, + 562, + 565, + 580, + 587, + 608, + 615, + 628, + 637, + 658, + 661, + 680, + 690, + 698, + 719, + 732, + 740, + 757, + 763, + 781, + 790, + 803, + 821, + 838, + 840, + 855, + 879, + 880, + 894, + 910, + 911, + 934, + 935, + 949, + 959, + 970, + 980, + 995], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,501] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 10 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 10 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:48,894:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:48,894] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_10_ceiling.xml +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=10, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:04:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 10 episode 0/2 collected=0/2 +[05/24 16:04:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:51.135 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:10,234] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:10,711] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:15,846] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:20,419] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:20,423] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 10 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=False +[05/24 16:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_10_ceiling.xml +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=10, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:07:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 10 episode 1/2 collected=1/2 +[05/24 16:07:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 10 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:09:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_10: 2 episodes +[05/24 16:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_10 +[05/24 16:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_10 in 3.80s (batch: 3.64s, save: 0.17s) +[05/24 16:09:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_10 +[05/24 16:09:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 10: 0/2 successful episodes +[05/24 16:09:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 27 (index 1/83) +[05/24 16:09:08 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 27 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:09:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_27_ceiling.xml +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=27, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper shaker' +[05/24 16:09:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 27 episode 0/2 collected=0/2 +[05/24 16:09:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 27 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=True +[05/24 16:09:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_27_ceiling.xml +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=27, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:09:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 27 episode 1/2 collected=1/2 +[05/24 16:09:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 27 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:10:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_27: 2 episodes +[05/24 16:10:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:10:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_27 +[05/24 16:10:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_27 in 4.71s (batch: 4.60s, save: 0.11s) +[05/24 16:10:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_27 +[05/24 16:10:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 27: 1/2 successful episodes +[05/24 16:10:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 42 (index 2/83) +[05/24 16:10:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 42 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:10:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_42_ceiling.xml +[05/24 16:10:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=42, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 114 objects +[05/24 16:11:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black mug' +[05/24 16:11:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 42 episode 0/1 collected=0/2 +[05/24 16:11:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 42 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 16:11:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_42: 1 episodes +[05/24 16:11:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 16:11:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_42 +[05/24 16:11:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_42 in 2.18s (batch: 2.16s, save: 0.03s) +[05/24 16:11:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_42 +[05/24 16:11:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 42: 1/1 successful episodes +[05/24 16:11:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 54 (index 3/83) +[05/24 16:11:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 54 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:11:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_54_ceiling.xml +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=54, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 16:11:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 54 episode 0/1 collected=0/2 +[05/24 16:11:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 54 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 16:11:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_54: 1 episodes +[05/24 16:11:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:11:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_54 +[05/24 16:11:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_54 in 1.66s (batch: 1.63s, save: 0.03s) +[05/24 16:11:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_54 +[05/24 16:11:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 54: 1/1 successful episodes +[05/24 16:11:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 58 (index 4/83) +[05/24 16:11:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 58 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:11:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_58_ceiling.xml +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=58, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:11:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 58 episode 0/2 collected=0/2 +[05/24 16:11:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 58 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=False +[05/24 16:13:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_58_ceiling.xml +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=58, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 16:13:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 58 episode 1/2 collected=1/2 +[05/24 16:13:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 58 episode 1 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 16:13:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_58: 2 episodes +[05/24 16:13:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:13:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_58 +[05/24 16:13:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_58 in 4.65s (batch: 4.54s, save: 0.11s) +[05/24 16:13:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_58 +[05/24 16:13:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 58: 1/2 successful episodes +[05/24 16:13:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 80 (index 5/83) +[05/24 16:13:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 80 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:13:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_80_ceiling.xml +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=80, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:13:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 80 episode 0/1 collected=0/2 +[05/24 16:13:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 80 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 16:13:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_80: 1 episodes +[05/24 16:13:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/24 16:13:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_80 +[05/24 16:13:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_80 in 2.32s (batch: 2.27s, save: 0.05s) +[05/24 16:13:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_80 +[05/24 16:13:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 80: 1/1 successful episodes +[05/24 16:13:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 83 (index 6/83) +[05/24 16:13:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 83 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_83_ceiling.xml +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=83, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 16:13:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 83 episode 0/2 collected=0/2 +[05/24 16:13:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 83 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 16:15:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_83_ceiling.xml +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=83, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:15:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 83 episode 1/2 collected=1/2 +[05/24 16:15:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 83 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_2 completed with success=False +[05/24 16:16:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_83: 2 episodes +[05/24 16:16:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_83 +[05/24 16:17:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_83 in 3.88s (batch: 3.71s, save: 0.17s) +[05/24 16:17:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_83 +[05/24 16:17:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 83: 0/2 successful episodes +[05/24 16:17:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 94 (index 7/83) +[05/24 16:17:01 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 94 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:17:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_94_ceiling.xml +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=94, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:17:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 94 episode 0/2 collected=0/2 +[05/24 16:17:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 94 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=False +[05/24 16:18:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_94_ceiling.xml +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=94, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:18:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 94 episode 1/2 collected=1/2 +[05/24 16:18:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 94 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_8 completed with success=False +[05/24 16:20:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_94: 2 episodes +[05/24 16:20:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_94 +[05/24 16:20:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_94 in 3.80s (batch: 3.64s, save: 0.16s) +[05/24 16:20:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_94 +[05/24 16:20:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 94: 0/2 successful episodes +[05/24 16:20:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 108 (index 8/83) +[05/24 16:20:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:20:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_108_ceiling.xml +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=108, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:20:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 108 episode 0/2 collected=0/2 +[05/24 16:20:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 108 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 16:20:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_108_ceiling.xml +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=108, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 16:20:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 108 episode 1/2 collected=1/2 +[05/24 16:20:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 108 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 16:21:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_108: 2 episodes +[05/24 16:21:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:21:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_108 +[05/24 16:21:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_108 in 3.34s (batch: 3.29s, save: 0.05s) +[05/24 16:21:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_108 +[05/24 16:21:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 108: 2/2 successful episodes +[05/24 16:21:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 122 (index 9/83) +[05/24 16:21:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 122 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:21:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_122_ceiling.xml +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=122, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:21:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 122 episode 0/1 collected=0/2 +[05/24 16:21:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 122 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 16:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_122: 1 episodes +[05/24 16:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_122 +[05/24 16:22:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_122 in 2.39s (batch: 2.31s, save: 0.08s) +[05/24 16:22:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_122 +[05/24 16:22:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 122: 0/1 successful episodes +[05/24 16:22:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 123 (index 10/83) +[05/24 16:22:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 123 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:22:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_123_ceiling.xml +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=123, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:22:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 123 episode 0/2 collected=0/2 +[05/24 16:22:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 123 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_7 completed with success=True +[05/24 16:23:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_123_ceiling.xml +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=123, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 16:23:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 123 episode 1/2 collected=1/2 +[05/24 16:23:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 123 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 16:24:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_123: 2 episodes +[05/24 16:24:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 184 timesteps +[05/24 16:24:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_123 +[05/24 16:24:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_123 in 3.68s (batch: 3.55s, save: 0.13s) +[05/24 16:24:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_123 +[05/24 16:24:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 123: 1/2 successful episodes +[05/24 16:24:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 143 (index 11/83) +[05/24 16:24:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 143 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:24:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_143_ceiling.xml +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=143, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 16:24:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 143 episode 0/2 collected=0/2 +[05/24 16:24:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 143 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:26:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_143_ceiling.xml +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=143, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with thick rim' +[05/24 16:26:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 143 episode 1/2 collected=1/2 +[05/24 16:26:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 143 episode 1 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 16:26:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_143: 2 episodes +[05/24 16:26:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:26:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_143 +[05/24 16:26:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_143 in 3.49s (batch: 3.38s, save: 0.11s) +[05/24 16:26:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_143 +[05/24 16:26:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 143: 1/2 successful episodes +[05/24 16:26:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 149 (index 12/83) +[05/24 16:26:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 149 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:26:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_149_ceiling.xml +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=149, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:26:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 149 episode 0/1 collected=0/2 +[05/24 16:26:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 149 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=False +[05/24 16:28:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_149: 1 episodes +[05/24 16:28:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_149 +[05/24 16:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_149 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 16:28:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_149 +[05/24 16:28:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 149: 0/1 successful episodes +[05/24 16:28:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 165 (index 13/83) +[05/24 16:28:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:28:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_165_ceiling.xml +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=165, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:28:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 165 episode 0/1 collected=0/2 +[05/24 16:28:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 165 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=True +[05/24 16:28:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_165: 1 episodes +[05/24 16:28:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 16:28:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_165 +[05/24 16:28:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_165 in 2.21s (batch: 2.19s, save: 0.03s) +[05/24 16:28:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_165 +[05/24 16:28:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 165: 1/1 successful episodes +[05/24 16:28:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 176 (index 14/83) +[05/24 16:28:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 176 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:28:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_176_ceiling.xml +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=176, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:28:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 176 episode 0/2 collected=0/2 +[05/24 16:28:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 176 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:29:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_176_ceiling.xml +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=176, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:29:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 176 episode 1/2 collected=1/2 +[05/24 16:29:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 176 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 16:31:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_176: 2 episodes +[05/24 16:31:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_176 +[05/24 16:31:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_176 in 4.97s (batch: 4.78s, save: 0.19s) +[05/24 16:31:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_176 +[05/24 16:31:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 176: 0/2 successful episodes +[05/24 16:31:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 190 (index 15/83) +[05/24 16:31:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:31:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_190_ceiling.xml +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=190, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:31:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 190 episode 0/1 collected=0/2 +[05/24 16:31:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 190 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:32:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_190: 1 episodes +[05/24 16:32:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_190 +[05/24 16:33:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_190 in 2.41s (batch: 2.32s, save: 0.09s) +[05/24 16:33:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_190 +[05/24 16:33:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 190: 0/1 successful episodes +[05/24 16:33:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 207 (index 16/83) +[05/24 16:33:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 207 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:33:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_207_ceiling.xml +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=207, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:33:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 207 episode 0/1 collected=0/2 +[05/24 16:33:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 207 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:34:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_207: 1 episodes +[05/24 16:34:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:34:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_207 +[05/24 16:34:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_207 in 2.47s (batch: 2.35s, save: 0.12s) +[05/24 16:34:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_207 +[05/24 16:34:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 207: 0/1 successful episodes +[05/24 16:34:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 220 (index 17/83) +[05/24 16:34:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:34:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_220_ceiling.xml +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=220, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:34:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 220 episode 0/2 collected=0/2 +[05/24 16:34:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 220 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:34:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_220_ceiling.xml +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=220, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:34:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 220 episode 1/2 collected=1/2 +[05/24 16:34:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 220 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_220: 2 episodes +[05/24 16:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:35:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_220 +[05/24 16:35:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_220 in 3.59s (batch: 3.48s, save: 0.11s) +[05/24 16:35:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_220 +[05/24 16:35:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 220: 1/2 successful episodes +[05/24 16:35:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 235 (index 18/83) +[05/24 16:35:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 235 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:35:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_235_ceiling.xml +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=235, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:36:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 235 episode 0/1 collected=0/2 +[05/24 16:36:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 235 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 16:37:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_235: 1 episodes +[05/24 16:37:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:37:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_235 +[05/24 16:37:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_235 in 2.39s (batch: 2.31s, save: 0.09s) +[05/24 16:37:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_235 +[05/24 16:37:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 235: 0/1 successful episodes +[05/24 16:37:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 239 (index 19/83) +[05/24 16:37:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 239 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:37:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_239_ceiling.xml +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=239, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:37:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 239 episode 0/2 collected=0/2 +[05/24 16:37:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 239 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 16:38:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_239_ceiling.xml +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=239, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug' +[05/24 16:39:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 239 episode 1/2 collected=1/2 +[05/24 16:39:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 239 episode 1 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True +[05/24 16:39:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_239: 2 episodes +[05/24 16:39:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:39:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_239 +[05/24 16:39:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_239 in 4.64s (batch: 4.52s, save: 0.11s) +[05/24 16:39:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_239 +[05/24 16:39:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 239: 1/2 successful episodes +[05/24 16:39:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 252 (index 20/83) +[05/24 16:39:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:39:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_252_ceiling.xml +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=252, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:39:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 252 episode 0/1 collected=0/2 +[05/24 16:39:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 252 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 16:40:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_252: 1 episodes +[05/24 16:40:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_252 +[05/24 16:40:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_252 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:40:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_252 +[05/24 16:40:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 252: 0/1 successful episodes +[05/24 16:40:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 266 (index 21/83) +[05/24 16:40:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:40:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_266_ceiling.xml +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=266, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 16:40:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 266 episode 0/2 collected=0/2 +[05/24 16:40:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 266 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False +[05/24 16:42:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_266_ceiling.xml +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=266, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:42:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 266 episode 1/2 collected=1/2 +[05/24 16:42:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 266 episode 1 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_6 completed with success=False +[05/24 16:43:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_266: 2 episodes +[05/24 16:43:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_266 +[05/24 16:43:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_266 in 4.93s (batch: 4.74s, save: 0.19s) +[05/24 16:43:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_266 +[05/24 16:43:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 266: 0/2 successful episodes +[05/24 16:43:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 273 (index 22/83) +[05/24 16:43:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:43:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_273_ceiling.xml +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=273, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:43:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 273 episode 0/1 collected=0/2 +[05/24 16:43:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 273 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 16:45:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_273: 1 episodes +[05/24 16:45:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_273 +[05/24 16:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_273 in 1.85s (batch: 1.76s, save: 0.08s) +[05/24 16:45:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_273 +[05/24 16:45:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 273: 0/1 successful episodes +[05/24 16:45:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 298 (index 23/83) +[05/24 16:45:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:45:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_298_ceiling.xml +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=298, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 16:45:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 298 episode 0/2 collected=0/2 +[05/24 16:45:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 298 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_6 completed with success=False +[05/24 16:46:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_298_ceiling.xml +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=298, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 16:46:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 298 episode 1/2 collected=1/2 +[05/24 16:46:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 298 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:46:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_298: 2 episodes +[05/24 16:46:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 16:46:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_298 +[05/24 16:46:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_298 in 3.50s (batch: 3.39s, save: 0.11s) +[05/24 16:46:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_298 +[05/24 16:46:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 298: 1/2 successful episodes +[05/24 16:46:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 302 (index 24/83) +[05/24 16:46:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 302 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:46:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_302_ceiling.xml +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=302, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:46:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 302 episode 0/1 collected=0/2 +[05/24 16:46:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 302 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 16:49:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_302: 1 episodes +[05/24 16:49:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:49:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_302 +[05/24 16:49:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_302 in 2.43s (batch: 2.34s, save: 0.09s) +[05/24 16:49:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_302 +[05/24 16:49:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 302: 0/1 successful episodes +[05/24 16:49:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 318 (index 25/83) +[05/24 16:49:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 318 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:49:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_318_ceiling.xml +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=318, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 16:49:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 318 episode 0/2 collected=0/2 +[05/24 16:49:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 318 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_2_0_8 completed with success=True +[05/24 16:49:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_318_ceiling.xml +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=318, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle with handle' +[05/24 16:49:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 318 episode 1/2 collected=1/2 +[05/24 16:49:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 318 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_8 completed with success=False +[05/24 16:51:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_318: 2 episodes +[05/24 16:51:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:51:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_318 +[05/24 16:51:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_318 in 4.68s (batch: 4.58s, save: 0.11s) +[05/24 16:51:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_318 +[05/24 16:51:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 318: 1/2 successful episodes +[05/24 16:51:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 324 (index 26/83) +[05/24 16:51:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 324 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:51:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_324_ceiling.xml +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=324, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 16:51:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 324 episode 0/1 collected=0/2 +[05/24 16:51:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 324 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_7 completed with success=False +[05/24 16:52:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_324: 1 episodes +[05/24 16:52:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_324 +[05/24 16:52:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_324 in 1.86s (batch: 1.78s, save: 0.08s) +[05/24 16:52:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_324 +[05/24 16:52:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 324: 0/1 successful episodes +[05/24 16:52:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 341 (index 27/83) +[05/24 16:52:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:52:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_341_ceiling.xml +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=341, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:52:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 341 episode 0/2 collected=0/2 +[05/24 16:52:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 341 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:52:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_341_ceiling.xml +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=341, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass shaker' +[05/24 16:52:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 341 episode 1/2 collected=1/2 +[05/24 16:52:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 341 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:53:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_341: 2 episodes +[05/24 16:53:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:53:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_341 +[05/24 16:53:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_341 in 3.22s (batch: 3.16s, save: 0.06s) +[05/24 16:53:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_341 +[05/24 16:53:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 341: 2/2 successful episodes +[05/24 16:53:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 344 (index 28/83) +[05/24 16:53:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 344 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:53:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_344_ceiling.xml +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=344, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:53:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 344 episode 0/1 collected=0/2 +[05/24 16:53:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 344 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:54:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_344: 1 episodes +[05/24 16:54:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_344 +[05/24 16:54:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_344 in 1.92s (batch: 1.81s, save: 0.11s) +[05/24 16:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_344 +[05/24 16:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 344: 0/1 successful episodes +[05/24 16:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 359 (index 29/83) +[05/24 16:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_359_ceiling.xml +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=359, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:54:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 359 episode 0/1 collected=0/2 +[05/24 16:54:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 359 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:54:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_359: 1 episodes +[05/24 16:54:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:54:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_359 +[05/24 16:54:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_359 in 2.12s (batch: 2.09s, save: 0.03s) +[05/24 16:54:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_359 +[05/24 16:54:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 359: 1/1 successful episodes +[05/24 16:54:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 372 (index 30/83) +[05/24 16:54:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:54:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_372_ceiling.xml +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=372, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:54:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 372 episode 0/2 collected=0/2 +[05/24 16:54:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 372 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:55:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_372_ceiling.xml +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=372, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wine bottle' +[05/24 16:55:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 372 episode 1/2 collected=1/2 +[05/24 16:55:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 372 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:55:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_372: 2 episodes +[05/24 16:55:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:55:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:55:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_372 +[05/24 16:55:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_372 in 3.28s (batch: 3.23s, save: 0.05s) +[05/24 16:55:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_372 +[05/24 16:55:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 372: 2/2 successful episodes +[05/24 16:55:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 385 (index 31/83) +[05/24 16:55:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:55:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_385_ceiling.xml +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=385, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:55:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 385 episode 0/2 collected=0/2 +[05/24 16:55:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 385 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:55:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_385_ceiling.xml +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=385, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:55:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 385 episode 1/2 collected=1/2 +[05/24 16:55:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 385 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:55:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_385: 2 episodes +[05/24 16:55:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 99 timesteps +[05/24 16:56:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:56:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_385 +[05/24 16:56:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_385 in 3.26s (batch: 3.21s, save: 0.06s) +[05/24 16:56:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_385 +[05/24 16:56:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 385: 2/2 successful episodes +[05/24 16:56:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 396 (index 32/83) +[05/24 16:56:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:56:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_396_ceiling.xml +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=396, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:56:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 396 episode 0/1 collected=0/2 +[05/24 16:56:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 396 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:57:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_396: 1 episodes +[05/24 16:57:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_396 +[05/24 16:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_396 in 2.34s (batch: 2.26s, save: 0.09s) +[05/24 16:57:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_396 +[05/24 16:57:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 396: 0/1 successful episodes +[05/24 16:57:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 409 (index 33/83) +[05/24 16:57:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 409 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:57:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_409_ceiling.xml +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=409, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:57:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 409 episode 0/2 collected=0/2 +[05/24 16:57:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 409 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_2 completed with success=True +[05/24 16:57:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_409_ceiling.xml +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=409, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:57:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 409 episode 1/2 collected=1/2 +[05/24 16:57:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 409 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:58:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_409: 2 episodes +[05/24 16:58:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:58:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:58:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_409 +[05/24 16:58:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_409 in 4.61s (batch: 4.50s, save: 0.11s) +[05/24 16:59:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_409 +[05/24 16:59:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 409: 1/2 successful episodes +[05/24 16:59:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 414 (index 34/83) +[05/24 16:59:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 414 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:59:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_414_ceiling.xml +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=414, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 16:59:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 414 episode 0/1 collected=0/2 +[05/24 16:59:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 414 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_8 completed with success=False +[05/24 17:00:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_414: 1 episodes +[05/24 17:00:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_414 +[05/24 17:00:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_414 in 1.89s (batch: 1.80s, save: 0.09s) +[05/24 17:00:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_414 +[05/24 17:00:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 414: 0/1 successful episodes +[05/24 17:00:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 436 (index 35/83) +[05/24 17:00:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:00:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_436_ceiling.xml +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=436, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:00:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 436 episode 0/2 collected=0/2 +[05/24 17:00:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 436 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 17:01:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_436_ceiling.xml +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=436, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:01:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 436 episode 1/2 collected=1/2 +[05/24 17:01:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 436 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True +[05/24 17:02:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_436: 2 episodes +[05/24 17:02:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 53 timesteps +[05/24 17:02:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_436 +[05/24 17:02:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_436 in 4.68s (batch: 4.57s, save: 0.12s) +[05/24 17:02:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_436 +[05/24 17:02:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 436: 1/2 successful episodes +[05/24 17:02:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 437 (index 36/83) +[05/24 17:02:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:02:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_437_ceiling.xml +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=437, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:02:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 437 episode 0/1 collected=0/2 +[05/24 17:02:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 437 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:02:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_437: 1 episodes +[05/24 17:02:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:02:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_437 +[05/24 17:02:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_437 in 1.73s (batch: 1.70s, save: 0.03s) +[05/24 17:02:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_437 +[05/24 17:02:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 437: 1/1 successful episodes +[05/24 17:02:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 464 (index 37/83) +[05/24 17:02:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 464 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:02:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_464_ceiling.xml +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=464, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tomato' +[05/24 17:02:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 464 episode 0/1 collected=0/2 +[05/24 17:02:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 464 episode 0 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 17:03:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_464: 1 episodes +[05/24 17:03:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_464 +[05/24 17:03:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_464 in 1.91s (batch: 1.79s, save: 0.12s) +[05/24 17:03:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_464 +[05/24 17:03:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 464: 0/1 successful episodes +[05/24 17:03:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 466 (index 38/83) +[05/24 17:03:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 466 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:03:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_466_ceiling.xml +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=466, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:03:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 466 episode 0/2 collected=0/2 +[05/24 17:03:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 466 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/24 17:05:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_466_ceiling.xml +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=466, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:05:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 466 episode 1/2 collected=1/2 +[05/24 17:05:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 466 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:05:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_466: 2 episodes +[05/24 17:05:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_466 +[05/24 17:05:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_466 in 3.43s (batch: 3.33s, save: 0.10s) +[05/24 17:05:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_466 +[05/24 17:05:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 466: 1/2 successful episodes +[05/24 17:05:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 487 (index 39/83) +[05/24 17:05:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 487 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:05:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_487_ceiling.xml +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=487, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife' +[05/24 17:05:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 487 episode 0/2 collected=0/2 +[05/24 17:05:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 487 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 17:06:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_487_ceiling.xml +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=487, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 17:06:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 487 episode 1/2 collected=1/2 +[05/24 17:06:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 487 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:08:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_487: 2 episodes +[05/24 17:08:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_487 +[05/24 17:08:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_487 in 3.73s (batch: 3.57s, save: 0.16s) +[05/24 17:08:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_487 +[05/24 17:08:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 487: 0/2 successful episodes +[05/24 17:08:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 488 (index 40/83) +[05/24 17:08:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:08:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_488_ceiling.xml +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=488, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:08:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 488 episode 0/1 collected=0/2 +[05/24 17:08:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 488 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:09:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_488: 1 episodes +[05/24 17:09:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/24 17:09:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_488 +[05/24 17:09:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_488 in 2.21s (batch: 2.17s, save: 0.05s) +[05/24 17:09:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_488 +[05/24 17:09:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 488: 1/1 successful episodes +[05/24 17:09:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 501 (index 41/83) +[05/24 17:09:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:09:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_501_ceiling.xml +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=501, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green bottle' +[05/24 17:09:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 501 episode 0/1 collected=0/2 +[05/24 17:09:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 501 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_501: 1 episodes +[05/24 17:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_501 +[05/24 17:10:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_501 in 1.99s (batch: 1.90s, save: 0.09s) +[05/24 17:10:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_501 +[05/24 17:10:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 501: 0/1 successful episodes +[05/24 17:10:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 521 (index 42/83) +[05/24 17:10:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 521 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:10:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_521_ceiling.xml +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=521, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:10:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 521 episode 0/1 collected=0/2 +[05/24 17:10:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 521 episode 0 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_6 completed with success=False +[05/24 17:11:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_521: 1 episodes +[05/24 17:11:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:11:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_521 +[05/24 17:11:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_521 in 2.39s (batch: 2.29s, save: 0.09s) +[05/24 17:11:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_521 +[05/24 17:11:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 521: 0/1 successful episodes +[05/24 17:11:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 533 (index 43/83) +[05/24 17:11:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 533 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:11:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_533_ceiling.xml +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=533, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:11:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 533 episode 0/2 collected=0/2 +[05/24 17:11:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 533 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=False +[05/24 17:13:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_533_ceiling.xml +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=533, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 17:13:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 533 episode 1/2 collected=1/2 +[05/24 17:13:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 533 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 17:13:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_533: 2 episodes +[05/24 17:13:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:13:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_533 +[05/24 17:13:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_533 in 4.61s (batch: 4.49s, save: 0.12s) +[05/24 17:13:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_533 +[05/24 17:13:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 533: 1/2 successful episodes +[05/24 17:13:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 539 (index 44/83) +[05/24 17:13:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 539 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:13:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_539_ceiling.xml +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=539, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:13:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 539 episode 0/1 collected=0/2 +[05/24 17:13:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 539 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:14:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_539: 1 episodes +[05/24 17:14:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_539 +[05/24 17:14:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_539 in 2.43s (batch: 2.34s, save: 0.09s) +[05/24 17:14:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_539 +[05/24 17:14:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 539: 0/1 successful episodes +[05/24 17:14:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 547 (index 45/83) +[05/24 17:14:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:14:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_547_ceiling.xml +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=547, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige mug' +[05/24 17:14:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 547 episode 0/2 collected=0/2 +[05/24 17:14:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 547 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_4 completed with success=True +[05/24 17:14:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_547_ceiling.xml +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=547, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:15:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 547 episode 1/2 collected=1/2 +[05/24 17:15:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 547 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 17:16:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_547: 2 episodes +[05/24 17:16:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_547 +[05/24 17:16:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_547 in 3.59s (batch: 3.48s, save: 0.11s) +[05/24 17:16:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_547 +[05/24 17:16:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 547: 1/2 successful episodes +[05/24 17:16:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 562 (index 46/83) +[05/24 17:16:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 562 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:16:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_562_ceiling.xml +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=562, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:16:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 562 episode 0/2 collected=0/2 +[05/24 17:16:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 562 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:17:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_562_ceiling.xml +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=562, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:17:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 562 episode 1/2 collected=1/2 +[05/24 17:17:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 562 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=True +[05/24 17:17:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_562: 2 episodes +[05/24 17:17:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 17:18:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_562 +[05/24 17:18:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_562 in 3.50s (batch: 3.38s, save: 0.12s) +[05/24 17:18:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_562 +[05/24 17:18:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 562: 1/2 successful episodes +[05/24 17:18:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 565 (index 47/83) +[05/24 17:18:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 565 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:18:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_565_ceiling.xml +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=565, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 7 objects +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 17:18:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 565 episode 0/1 collected=0/2 +[05/24 17:18:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 565 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=False +[05/24 17:19:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_565: 1 episodes +[05/24 17:19:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_565 +[05/24 17:19:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_565 in 2.46s (batch: 2.36s, save: 0.10s) +[05/24 17:19:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_565 +[05/24 17:19:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 565: 0/1 successful episodes +[05/24 17:19:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 580 (index 48/83) +[05/24 17:19:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:19:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_580_ceiling.xml +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=580, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple with stem' +[05/24 17:19:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 580 episode 0/2 collected=0/2 +[05/24 17:19:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 580 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 17:20:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_580_ceiling.xml +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=580, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass shaker' +[05/24 17:20:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 580 episode 1/2 collected=1/2 +[05/24 17:20:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 580 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 17:21:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_580: 2 episodes +[05/24 17:21:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_580 +[05/24 17:21:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_580 in 4.93s (batch: 4.77s, save: 0.17s) +[05/24 17:21:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_580 +[05/24 17:21:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 580: 0/2 successful episodes +[05/24 17:21:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 587 (index 49/83) +[05/24 17:21:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 587 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:21:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_587_ceiling.xml +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=587, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:21:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 587 episode 0/1 collected=0/2 +[05/24 17:21:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 587 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:22:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_587: 1 episodes +[05/24 17:22:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_587 +[05/24 17:23:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_587 in 1.87s (batch: 1.78s, save: 0.08s) +[05/24 17:23:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_587 +[05/24 17:23:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 587: 0/1 successful episodes +[05/24 17:23:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 608 (index 50/83) +[05/24 17:23:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 608 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:23:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_608_ceiling.xml +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=608, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:23:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 608 episode 0/1 collected=0/2 +[05/24 17:23:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 608 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:23:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_608: 1 episodes +[05/24 17:23:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:23:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_608 +[05/24 17:23:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_608 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:23:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_608 +[05/24 17:23:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 608: 1/1 successful episodes +[05/24 17:23:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 615 (index 51/83) +[05/24 17:23:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 615 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:23:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_615_ceiling.xml +[05/24 17:23:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=615, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects +[05/24 17:23:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the false fruit' +[05/24 17:23:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 615 episode 0/2 collected=0/2 +[05/24 17:23:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 615 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:24:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_615_ceiling.xml +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=615, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:25:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 615 episode 1/2 collected=1/2 +[05/24 17:25:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 615 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_2_0_9 completed with success=False +[05/24 17:26:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_615: 2 episodes +[05/24 17:26:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_615 +[05/24 17:26:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_615 in 4.94s (batch: 4.77s, save: 0.17s) +[05/24 17:26:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_615 +[05/24 17:26:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 615: 0/2 successful episodes +[05/24 17:26:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 628 (index 52/83) +[05/24 17:26:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:26:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_628_ceiling.xml +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=628, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:26:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 628 episode 0/1 collected=0/2 +[05/24 17:26:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 628 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 17:28:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_628: 1 episodes +[05/24 17:28:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:28:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_628 +[05/24 17:28:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_628 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 17:28:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_628 +[05/24 17:28:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 628: 0/1 successful episodes +[05/24 17:28:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 637 (index 53/83) +[05/24 17:28:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 637 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:28:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_637_ceiling.xml +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=637, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:28:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 637 episode 0/2 collected=0/2 +[05/24 17:28:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 637 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 17:28:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_637_ceiling.xml +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=637, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal rectangular box' +[05/24 17:28:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 637 episode 1/2 collected=1/2 +[05/24 17:28:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 637 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_7 completed with success=True +[05/24 17:29:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_637: 2 episodes +[05/24 17:29:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:29:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 292 timesteps +[05/24 17:29:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_637 +[05/24 17:29:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_637 in 3.47s (batch: 3.38s, save: 0.08s) +[05/24 17:29:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_637 +[05/24 17:29:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 637: 2/2 successful episodes +[05/24 17:29:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 658 (index 54/83) +[05/24 17:29:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 658 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:29:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_658_ceiling.xml +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=658, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:29:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 658 episode 0/2 collected=0/2 +[05/24 17:29:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 658 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:30:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_658_ceiling.xml +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=658, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 17:30:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 658 episode 1/2 collected=1/2 +[05/24 17:30:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 658 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 17:31:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_658: 2 episodes +[05/24 17:31:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_658 +[05/24 17:31:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_658 in 4.89s (batch: 4.70s, save: 0.19s) +[05/24 17:31:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_658 +[05/24 17:31:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 658: 0/2 successful episodes +[05/24 17:31:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 661 (index 55/83) +[05/24 17:31:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:31:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_661_ceiling.xml +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=661, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:31:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 661 episode 0/1 collected=0/2 +[05/24 17:31:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 661 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:32:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_661: 1 episodes +[05/24 17:32:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:32:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_661 +[05/24 17:32:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_661 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:32:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_661 +[05/24 17:32:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 661: 1/1 successful episodes +[05/24 17:32:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 680 (index 56/83) +[05/24 17:32:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 680 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:32:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_680_ceiling.xml +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=680, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:32:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 680 episode 0/1 collected=0/2 +[05/24 17:32:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 680 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 17:33:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_680: 1 episodes +[05/24 17:33:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_680 +[05/24 17:33:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_680 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:33:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_680 +[05/24 17:33:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 680: 0/1 successful episodes +[05/24 17:33:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 690 (index 57/83) +[05/24 17:33:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 690 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:33:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_690_ceiling.xml +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=690, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass pepper shaker' +[05/24 17:33:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 690 episode 0/2 collected=0/2 +[05/24 17:33:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 690 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 17:35:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_690_ceiling.xml +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=690, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 17:35:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 690 episode 1/2 collected=1/2 +[05/24 17:35:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 690 episode 1 object apple_351743009add5172747a3534de5d2e2f_1_0_6 completed with success=False +[05/24 17:36:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_690: 2 episodes +[05/24 17:36:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_690 +[05/24 17:36:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_690 in 4.77s (batch: 4.60s, save: 0.16s) +[05/24 17:36:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_690 +[05/24 17:36:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 690: 0/2 successful episodes +[05/24 17:36:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 698 (index 58/83) +[05/24 17:36:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:36:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_698_ceiling.xml +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=698, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 17:36:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 698 episode 0/1 collected=0/2 +[05/24 17:36:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 698 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=False +[05/24 17:37:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_698: 1 episodes +[05/24 17:37:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_698 +[05/24 17:37:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_698 in 2.38s (batch: 2.29s, save: 0.08s) +[05/24 17:37:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_698 +[05/24 17:37:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 698: 0/1 successful episodes +[05/24 17:37:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 719 (index 59/83) +[05/24 17:37:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 719 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:37:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_719_ceiling.xml +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=719, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass pepper shaker' +[05/24 17:37:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 719 episode 0/1 collected=0/2 +[05/24 17:37:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 719 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 17:39:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_719: 1 episodes +[05/24 17:39:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_719 +[05/24 17:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_719 in 2.40s (batch: 2.31s, save: 0.09s) +[05/24 17:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_719 +[05/24 17:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 719: 0/1 successful episodes +[05/24 17:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 732 (index 60/83) +[05/24 17:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_732_ceiling.xml +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=732, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal ladle' +[05/24 17:39:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 732 episode 0/2 collected=0/2 +[05/24 17:39:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 732 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 17:39:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_732_ceiling.xml +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=732, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 17:39:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 732 episode 1/2 collected=1/2 +[05/24 17:39:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 732 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 17:39:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_732: 2 episodes +[05/24 17:39:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:39:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:39:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_732 +[05/24 17:39:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_732 in 4.46s (batch: 4.40s, save: 0.05s) +[05/24 17:39:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_732 +[05/24 17:39:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 732: 2/2 successful episodes +[05/24 17:39:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 740 (index 61/83) +[05/24 17:39:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 740 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:39:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_740_ceiling.xml +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=740, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:39:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 740 episode 0/1 collected=0/2 +[05/24 17:39:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 740 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 17:40:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_740: 1 episodes +[05/24 17:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 180 timesteps +[05/24 17:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_740 +[05/24 17:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_740 in 2.32s (batch: 2.27s, save: 0.05s) +[05/24 17:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_740 +[05/24 17:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 740: 1/1 successful episodes +[05/24 17:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 757 (index 62/83) +[05/24 17:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 757 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_757_ceiling.xml +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=757, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:40:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 757 episode 0/2 collected=0/2 +[05/24 17:40:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 757 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=True +[05/24 17:41:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_757_ceiling.xml +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=757, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:41:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 757 episode 1/2 collected=1/2 +[05/24 17:41:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 757 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 17:42:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_757: 2 episodes +[05/24 17:42:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 305 timesteps +[05/24 17:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:42:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_757 +[05/24 17:42:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_757 in 3.76s (batch: 3.60s, save: 0.16s) +[05/24 17:42:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_757 +[05/24 17:42:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 757: 1/2 successful episodes +[05/24 17:42:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 763 (index 63/83) +[05/24 17:42:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:42:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_763_ceiling.xml +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=763, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:42:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 763 episode 0/1 collected=0/2 +[05/24 17:42:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 763 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:44:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_763: 1 episodes +[05/24 17:44:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:44:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_763 +[05/24 17:44:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_763 in 1.88s (batch: 1.80s, save: 0.08s) +[05/24 17:44:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_763 +[05/24 17:44:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 763: 0/1 successful episodes +[05/24 17:44:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 781 (index 64/83) +[05/24 17:44:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:44:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_781_ceiling.xml +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=781, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup without handle' +[05/24 17:44:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 781 episode 0/1 collected=0/2 +[05/24 17:44:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 781 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_2_0_2 completed with success=False +[05/24 17:45:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_781: 1 episodes +[05/24 17:45:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_781 +[05/24 17:45:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_781 in 1.94s (batch: 1.84s, save: 0.09s) +[05/24 17:45:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_781 +[05/24 17:45:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 781: 0/1 successful episodes +[05/24 17:45:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 790 (index 65/83) +[05/24 17:45:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:45:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_790_ceiling.xml +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=790, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:45:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 790 episode 0/2 collected=0/2 +[05/24 17:45:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 790 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:47:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_790_ceiling.xml +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=790, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 17:47:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 790 episode 1/2 collected=1/2 +[05/24 17:47:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 790 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:48:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_790: 2 episodes +[05/24 17:48:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_790 +[05/24 17:48:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_790 in 4.84s (batch: 4.67s, save: 0.16s) +[05/24 17:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_790 +[05/24 17:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 790: 0/2 successful episodes +[05/24 17:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 803 (index 66/83) +[05/24 17:48:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_803_ceiling.xml +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=803, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:48:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 803 episode 0/1 collected=0/2 +[05/24 17:48:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 803 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:50:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_803: 1 episodes +[05/24 17:50:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:50:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_803 +[05/24 17:50:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_803 in 2.36s (batch: 2.28s, save: 0.09s) +[05/24 17:50:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_803 +[05/24 17:50:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 803: 0/1 successful episodes +[05/24 17:50:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 821 (index 67/83) +[05/24 17:50:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:50:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_821_ceiling.xml +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=821, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:50:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 821 episode 0/2 collected=0/2 +[05/24 17:50:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 821 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 17:52:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_821_ceiling.xml +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=821, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:52:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 821 episode 1/2 collected=1/2 +[05/24 17:52:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 821 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=True +[05/24 17:52:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_821: 2 episodes +[05/24 17:52:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_821 +[05/24 17:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_821 in 4.43s (batch: 4.32s, save: 0.11s) +[05/24 17:52:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_821 +[05/24 17:52:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 821: 1/2 successful episodes +[05/24 17:52:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 838 (index 68/83) +[05/24 17:52:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 838 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:52:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_838_ceiling.xml +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=838, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 17:52:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 838 episode 0/2 collected=0/2 +[05/24 17:52:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 838 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=True +[05/24 17:52:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_838_ceiling.xml +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=838, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:52:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 838 episode 1/2 collected=1/2 +[05/24 17:52:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 838 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:53:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_838: 2 episodes +[05/24 17:53:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:54:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_838 +[05/24 17:54:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_838 in 4.62s (batch: 4.51s, save: 0.11s) +[05/24 17:54:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_838 +[05/24 17:54:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 838: 1/2 successful episodes +[05/24 17:54:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 840 (index 69/83) +[05/24 17:54:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:54:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_840_ceiling.xml +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=840, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:54:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 840 episode 0/1 collected=0/2 +[05/24 17:54:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 840 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True +[05/24 17:54:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_840: 1 episodes +[05/24 17:54:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:54:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_840 +[05/24 17:54:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_840 in 2.11s (batch: 2.08s, save: 0.03s) +[05/24 17:54:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_840 +[05/24 17:54:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 840: 1/1 successful episodes +[05/24 17:54:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 855 (index 70/83) +[05/24 17:54:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 855 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:54:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_855_ceiling.xml +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=855, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:54:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 855 episode 0/2 collected=0/2 +[05/24 17:54:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 855 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=False +[05/24 17:55:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_855_ceiling.xml +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=855, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 17:55:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 855 episode 1/2 collected=1/2 +[05/24 17:55:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 855 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_2_0_6 completed with success=True +[05/24 17:55:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_855: 2 episodes +[05/24 17:55:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:56:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_855 +[05/24 17:56:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_855 in 4.54s (batch: 4.43s, save: 0.10s) +[05/24 17:56:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_855 +[05/24 17:56:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 855: 1/2 successful episodes +[05/24 17:56:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 879 (index 71/83) +[05/24 17:56:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 879 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:56:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_879_ceiling.xml +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=879, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:56:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 879 episode 0/1 collected=0/2 +[05/24 17:56:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 879 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_6 completed with success=False +[05/24 17:57:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_879: 1 episodes +[05/24 17:57:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:57:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_879 +[05/24 17:57:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_879 in 2.46s (batch: 2.38s, save: 0.09s) +[05/24 17:57:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_879 +[05/24 17:57:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 879: 0/1 successful episodes +[05/24 17:57:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 880 (index 72/83) +[05/24 17:57:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:57:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_880_ceiling.xml +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=880, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife' +[05/24 17:57:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 880 episode 0/2 collected=0/2 +[05/24 17:57:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 880 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 17:58:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_880_ceiling.xml +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=880, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 17:58:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 880 episode 1/2 collected=1/2 +[05/24 17:58:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 880 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:58:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_880: 2 episodes +[05/24 17:58:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:58:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:58:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_880 +[05/24 17:58:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_880 in 4.46s (batch: 4.34s, save: 0.13s) +[05/24 17:58:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_880 +[05/24 17:58:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 880: 1/2 successful episodes +[05/24 17:58:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 894 (index 73/83) +[05/24 17:58:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 894 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:58:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_894_ceiling.xml +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=894, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 17:58:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 894 episode 0/2 collected=0/2 +[05/24 17:58:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 894 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_8 completed with success=True +[05/24 17:59:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_894_ceiling.xml +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=894, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:59:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 894 episode 1/2 collected=1/2 +[05/24 17:59:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 894 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 17:59:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_894: 2 episodes +[05/24 17:59:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:59:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:59:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_894 +[05/24 17:59:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_894 in 4.33s (batch: 4.24s, save: 0.09s) +[05/24 17:59:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_894 +[05/24 17:59:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 894: 2/2 successful episodes +[05/24 17:59:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 910 (index 74/83) +[05/24 17:59:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 910 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:59:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_910_ceiling.xml +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=910, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 17:59:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 910 episode 0/1 collected=0/2 +[05/24 17:59:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 910 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_2 completed with success=True +[05/24 17:59:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_910: 1 episodes +[05/24 17:59:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:59:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_910 +[05/24 17:59:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_910 in 2.20s (batch: 2.18s, save: 0.03s) +[05/24 17:59:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_910 +[05/24 17:59:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 910: 1/1 successful episodes +[05/24 17:59:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 911 (index 75/83) +[05/24 17:59:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:59:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_911_ceiling.xml +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=911, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:59:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 911 episode 0/2 collected=0/2 +[05/24 17:59:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 911 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_911_ceiling.xml +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=911, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 18:00:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 911 episode 1/2 collected=1/2 +[05/24 18:00:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 911 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 18:01:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_911: 2 episodes +[05/24 18:01:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 18:01:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:01:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_911 +[05/24 18:01:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_911 in 4.60s (batch: 4.49s, save: 0.11s) +[05/24 18:01:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_911 +[05/24 18:01:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 911: 1/2 successful episodes +[05/24 18:01:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 934 (index 76/83) +[05/24 18:01:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:01:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_934_ceiling.xml +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=934, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 18:01:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 934 episode 0/1 collected=0/2 +[05/24 18:01:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:02:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 934 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 18:02:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_934: 1 episodes +[05/24 18:02:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:02:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_934 +[05/24 18:02:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_934 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 18:02:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_934 +[05/24 18:02:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 934: 0/1 successful episodes +[05/24 18:02:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 935 (index 77/83) +[05/24 18:02:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 935 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:02:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_935_ceiling.xml +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=935, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the compact dark teal rectangular box' +[05/24 18:02:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 935 episode 0/2 collected=0/2 +[05/24 18:02:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:02:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 935 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 18:02:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_935_ceiling.xml +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=935, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 18:02:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 935 episode 1/2 collected=1/2 +[05/24 18:02:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 935 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 18:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_935: 2 episodes +[05/24 18:04:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 32 timesteps +[05/24 18:04:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:04:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_935 +[05/24 18:04:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_935 in 4.52s (batch: 4.41s, save: 0.10s) +[05/24 18:04:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_935 +[05/24 18:04:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 935: 1/2 successful episodes +[05/24 18:04:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 949 (index 78/83) +[05/24 18:04:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 949 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:04:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:04:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_949_ceiling.xml +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=949, scene_dataset=procthor-10k, data_split=val +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:04:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:04:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:04:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:04:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:04:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass pepper shaker' +[05/24 18:04:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 949 episode 0/1 collected=0/2 +[05/24 18:04:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:05:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 949 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 18:05:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_949: 1 episodes +[05/24 18:05:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:05:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_949 +[05/24 18:05:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_949 in 2.06s (batch: 1.98s, save: 0.08s) +[05/24 18:05:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_949 +[05/24 18:05:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 949: 0/1 successful episodes +[05/24 18:05:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 959 (index 79/83) +[05/24 18:05:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 959 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:05:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:05:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_959_ceiling.xml +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=959, scene_dataset=procthor-10k, data_split=val +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:05:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:05:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:05:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:05:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:05:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 18:05:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 959 episode 0/2 collected=0/2 +[05/24 18:05:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:05:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:05:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 959 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 18:05:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:06:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_959_ceiling.xml +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=959, scene_dataset=procthor-10k, data_split=val +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:06:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray' +[05/24 18:06:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 959 episode 1/2 collected=1/2 +[05/24 18:06:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:06:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 959 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 18:07:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_959: 2 episodes +[05/24 18:07:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 18:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:07:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:07:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:07:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_959 +[05/24 18:07:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_959 in 3.47s (batch: 3.36s, save: 0.10s) +[05/24 18:07:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_959 +[05/24 18:07:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 959: 1/2 successful episodes +[05/24 18:07:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 970 (index 80/83) +[05/24 18:07:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:07:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:07:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_970_ceiling.xml +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=970, scene_dataset=procthor-10k, data_split=val +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:07:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:07:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:07:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:07:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:07:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal cooking pot' +[05/24 18:07:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 970 episode 0/2 collected=0/2 +[05/24 18:07:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:08:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 970 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 18:08:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:08:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_970_ceiling.xml +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=970, scene_dataset=procthor-10k, data_split=val +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:08:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:08:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:08:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:08:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:08:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 18:08:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 970 episode 1/2 collected=1/2 +[05/24 18:08:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:08:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:09:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 970 episode 1 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6 completed with success=True +[05/24 18:09:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_970: 2 episodes +[05/24 18:09:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:09:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 18:09:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:09:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:09:13 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_970 +[05/24 18:09:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_970 in 4.47s (batch: 4.36s, save: 0.11s) +[05/24 18:09:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_970 +[05/24 18:09:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 970: 1/2 successful episodes +[05/24 18:09:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 980 (index 81/83) +[05/24 18:09:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:09:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:09:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_980_ceiling.xml +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=980, scene_dataset=procthor-10k, data_split=val +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:09:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:09:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:09:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent smooth glass conical bowl' +[05/24 18:09:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 980 episode 0/1 collected=0/2 +[05/24 18:09:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:09:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:09:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 980 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=True +[05/24 18:09:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_980: 1 episodes +[05/24 18:09:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 18:09:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:09:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_980 +[05/24 18:09:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_980 in 2.11s (batch: 2.07s, save: 0.04s) +[05/24 18:09:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_980 +[05/24 18:09:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 980: 1/1 successful episodes +[05/24 18:09:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 995 (index 82/83) +[05/24 18:09:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:09:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:09:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_995_ceiling.xml +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=995, scene_dataset=procthor-10k, data_split=val +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 106 objects +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:09:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:09:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:09:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 18:09:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 995 episode 0/2 collected=0/2 +[05/24 18:09:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:11:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 995 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 18:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:11:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_995_ceiling.xml +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=995, scene_dataset=procthor-10k, data_split=val +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 106 objects +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:11:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 18:11:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 995 episode 1/2 collected=1/2 +[05/24 18:11:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 995 episode 1 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=False +[05/24 18:12:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_995: 2 episodes +[05/24 18:12:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:12:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:12:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:12:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:12:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_995 +[05/24 18:12:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_995 in 4.66s (batch: 4.50s, save: 0.16s) +[05/24 18:13:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_995 +[05/24 18:13:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 995: 0/2 successful episodes +[05/24 18:13:00 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:13:00 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:13:00 INFO pipeline.py:1499] Success count: 50, Total count: 125 +[05/24 18:13:00 INFO pipeline.py:1500] Success rate: 40.00% +Combined 125 episodes from 83 files → /tmp/tmp1mzp4tj5.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/results.csv at-end: 40.0% | oracle: 40.0% of 125 episodes +[2026-05-24 18:13:09,406] INFO MolmoSpaces simulator eval finished: success=50/125 rate=0.4000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval +[2026-05-24 18:13:09,406] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_05.launcher.log b/pick_msproc/pick_msproc/shards/shard_05.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..78b6efc3c65247dda85fec6771904a737599efb8 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_05.launcher.log @@ -0,0 +1,2984 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,489] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,532] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,561] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 (source=arg) +[2026-05-24 15:59:56,814] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,041] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:42,616] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:42,616] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,448] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,504] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,543] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [13, + 29, + 43, + 55, + 60, + 82, + 85, + 97, + 109, + 125, + 127, + 144, + 152, + 172, + 179, + 191, + 210, + 221, + 238, + 241, + 254, + 270, + 274, + 300, + 303, + 323, + 325, + 346, + 348, + 360, + 373, + 386, + 397, + 412, + 416, + 438, + 439, + 468, + 469, + 489, + 490, + 509, + 524, + 534, + 540, + 548, + 567, + 571, + 583, + 588, + 609, + 620, + 631, + 638, + 659, + 663, + 682, + 694, + 699, + 720, + 733, + 742, + 761, + 764, + 783, + 792, + 808, + 827, + 839, + 842, + 860, + 881, + 882, + 895, + 912, + 913, + 936, + 937, + 951, + 961, + 973, + 983, + 998], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,548] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 13 (index 0/83) +[05/24 16:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 13 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,330:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,330] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_13_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=13, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 13 episode 0/2 collected=0/2 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.704 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:58,480] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:58,909] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:05,312] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:13,557] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:13,561] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 13 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=True +[05/24 16:06:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_13_ceiling.xml +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=13, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:06:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 13 episode 1/2 collected=1/2 +[05/24 16:06:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 13 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:07:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_13: 2 episodes +[05/24 16:07:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:08:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_13 +[05/24 16:08:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_13 in 5.07s (batch: 4.96s, save: 0.11s) +[05/24 16:08:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_13 +[05/24 16:08:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 13: 1/2 successful episodes +[05/24 16:08:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 29 (index 1/83) +[05/24 16:08:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 29 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_29_ceiling.xml +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=29, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 16:08:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 29 episode 0/2 collected=0/2 +[05/24 16:08:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 29 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=True +[05/24 16:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_29_ceiling.xml +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=29, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker' +[05/24 16:09:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 29 episode 1/2 collected=1/2 +[05/24 16:09:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 29 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:10:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_29: 2 episodes +[05/24 16:10:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 447 timesteps +[05/24 16:10:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_29 +[05/24 16:10:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_29 in 4.99s (batch: 4.82s, save: 0.16s) +[05/24 16:10:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_29 +[05/24 16:10:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 29: 1/2 successful episodes +[05/24 16:10:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 43 (index 2/83) +[05/24 16:10:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 43 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:10:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_43_ceiling.xml +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=43, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:10:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 43 episode 0/1 collected=0/2 +[05/24 16:10:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 43 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:12:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_43: 1 episodes +[05/24 16:12:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_43 +[05/24 16:12:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_43 in 1.95s (batch: 1.86s, save: 0.10s) +[05/24 16:12:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_43 +[05/24 16:12:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 43: 0/1 successful episodes +[05/24 16:12:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 55 (index 3/83) +[05/24 16:12:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 55 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:12:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_55_ceiling.xml +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=55, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:12:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 55 episode 0/1 collected=0/2 +[05/24 16:12:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 55 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_55: 1 episodes +[05/24 16:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_55 +[05/24 16:13:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_55 in 1.94s (batch: 1.82s, save: 0.12s) +[05/24 16:13:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_55 +[05/24 16:13:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 55: 0/1 successful episodes +[05/24 16:13:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 60 (index 4/83) +[05/24 16:13:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 60 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:13:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_60_ceiling.xml +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=60, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:13:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 60 episode 0/2 collected=0/2 +[05/24 16:13:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 60 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:15:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_60_ceiling.xml +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=60, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:15:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 60 episode 1/2 collected=1/2 +[05/24 16:15:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 60 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 16:15:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_60: 2 episodes +[05/24 16:15:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_60 +[05/24 16:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_60 in 4.92s (batch: 4.81s, save: 0.12s) +[05/24 16:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_60 +[05/24 16:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 60: 1/2 successful episodes +[05/24 16:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 82 (index 5/83) +[05/24 16:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 82 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_82_ceiling.xml +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=82, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue translucent soap bottle with pump' +[05/24 16:15:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 82 episode 0/1 collected=0/2 +[05/24 16:15:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 82 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 16:16:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_82: 1 episodes +[05/24 16:16:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_82 +[05/24 16:16:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_82 in 2.67s (batch: 2.51s, save: 0.16s) +[05/24 16:16:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_82 +[05/24 16:16:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 82: 0/1 successful episodes +[05/24 16:16:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 85 (index 6/83) +[05/24 16:16:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 85 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:16:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_85_ceiling.xml +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=85, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the fork' +[05/24 16:16:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 85 episode 0/2 collected=0/2 +[05/24 16:16:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:17:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 85 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:17:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_85_ceiling.xml +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=85, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 16:17:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 85 episode 1/2 collected=1/2 +[05/24 16:17:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 85 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 16:18:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_85: 2 episodes +[05/24 16:18:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 153 timesteps +[05/24 16:18:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:54 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_85 +[05/24 16:18:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_85 in 4.87s (batch: 4.74s, save: 0.13s) +[05/24 16:18:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_85 +[05/24 16:18:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 85: 1/2 successful episodes +[05/24 16:18:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 97 (index 7/83) +[05/24 16:18:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 97 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:18:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_97_ceiling.xml +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=97, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 102 objects +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle' +[05/24 16:19:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 97 episode 0/2 collected=0/2 +[05/24 16:19:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 97 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_3_0_9 completed with success=False +[05/24 16:20:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_97_ceiling.xml +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=97, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 102 objects +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:20:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 97 episode 1/2 collected=1/2 +[05/24 16:20:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 97 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:21:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_97: 2 episodes +[05/24 16:21:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 16:21:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_97 +[05/24 16:21:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_97 in 3.63s (batch: 3.52s, save: 0.12s) +[05/24 16:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_97 +[05/24 16:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 97: 1/2 successful episodes +[05/24 16:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 109 (index 8/83) +[05/24 16:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 109 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_109_ceiling.xml +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=109, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 16:21:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 109 episode 0/2 collected=0/2 +[05/24 16:21:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 109 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 16:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_109_ceiling.xml +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=109, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 16:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 109 episode 1/2 collected=1/2 +[05/24 16:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 109 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 16:22:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_109: 2 episodes +[05/24 16:22:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 16:23:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_109 +[05/24 16:23:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_109 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:23:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_109 +[05/24 16:23:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 109: 1/2 successful episodes +[05/24 16:23:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 125 (index 9/83) +[05/24 16:23:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:23:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_125_ceiling.xml +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=125, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 16:23:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 125 episode 0/2 collected=0/2 +[05/24 16:23:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 125 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:24:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_125_ceiling.xml +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=125, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:24:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 125 episode 1/2 collected=1/2 +[05/24 16:24:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 125 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:24:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_125: 2 episodes +[05/24 16:24:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:24:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_125 +[05/24 16:24:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_125 in 3.54s (batch: 3.43s, save: 0.12s) +[05/24 16:24:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_125 +[05/24 16:24:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 125: 1/2 successful episodes +[05/24 16:24:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 127 (index 10/83) +[05/24 16:24:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 127 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:24:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_127_ceiling.xml +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=127, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:24:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 127 episode 0/1 collected=0/2 +[05/24 16:24:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 127 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_127: 1 episodes +[05/24 16:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_127 +[05/24 16:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_127 in 1.92s (batch: 1.84s, save: 0.09s) +[05/24 16:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_127 +[05/24 16:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 127: 0/1 successful episodes +[05/24 16:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 144 (index 11/83) +[05/24 16:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_144_ceiling.xml +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=144, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 16:26:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 144 episode 0/2 collected=0/2 +[05/24 16:26:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 144 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=True +[05/24 16:26:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_144_ceiling.xml +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=144, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:26:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 144 episode 1/2 collected=1/2 +[05/24 16:26:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 144 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:27:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_144: 2 episodes +[05/24 16:27:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:27:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 16:27:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_144 +[05/24 16:27:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_144 in 4.60s (batch: 4.53s, save: 0.07s) +[05/24 16:27:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_144 +[05/24 16:27:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 144: 2/2 successful episodes +[05/24 16:27:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 152 (index 12/83) +[05/24 16:27:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 152 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:27:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_152_ceiling.xml +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=152, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:27:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 152 episode 0/1 collected=0/2 +[05/24 16:27:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 152 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_152: 1 episodes +[05/24 16:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 128 timesteps +[05/24 16:27:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_152 +[05/24 16:27:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_152 in 2.30s (batch: 2.26s, save: 0.04s) +[05/24 16:27:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_152 +[05/24 16:27:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 152: 1/1 successful episodes +[05/24 16:27:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 172 (index 13/83) +[05/24 16:27:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:27:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_172_ceiling.xml +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=172, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means' +[05/24 16:27:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 172 episode 0/1 collected=0/2 +[05/24 16:27:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 172 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_8 completed with success=False +[05/24 16:29:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_172: 1 episodes +[05/24 16:29:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_172 +[05/24 16:29:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_172 in 1.93s (batch: 1.81s, save: 0.11s) +[05/24 16:29:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_172 +[05/24 16:29:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 172: 0/1 successful episodes +[05/24 16:29:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 179 (index 14/83) +[05/24 16:29:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 179 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:29:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_179_ceiling.xml +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=179, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:29:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 179 episode 0/2 collected=0/2 +[05/24 16:29:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 179 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_2_0_6 completed with success=False +[05/24 16:30:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_179_ceiling.xml +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=179, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 16:31:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 179 episode 1/2 collected=1/2 +[05/24 16:31:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 179 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 16:32:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_179: 2 episodes +[05/24 16:32:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_179 +[05/24 16:32:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_179 in 5.09s (batch: 4.92s, save: 0.17s) +[05/24 16:32:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_179 +[05/24 16:32:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 179: 0/2 successful episodes +[05/24 16:32:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 191 (index 15/83) +[05/24 16:32:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:32:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_191_ceiling.xml +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=191, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 16:32:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 191 episode 0/1 collected=0/2 +[05/24 16:32:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 191 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_6 completed with success=True +[05/24 16:32:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_191: 1 episodes +[05/24 16:32:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:32:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_191 +[05/24 16:32:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_191 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 16:32:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_191 +[05/24 16:32:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 191: 1/1 successful episodes +[05/24 16:32:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 210 (index 16/83) +[05/24 16:32:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 210 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:32:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_210_ceiling.xml +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=210, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:32:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 210 episode 0/1 collected=0/2 +[05/24 16:32:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 210 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_3 completed with success=True +[05/24 16:33:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_210: 1 episodes +[05/24 16:33:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:33:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_210 +[05/24 16:33:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_210 in 1.76s (batch: 1.63s, save: 0.13s) +[05/24 16:33:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_210 +[05/24 16:33:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 210: 1/1 successful episodes +[05/24 16:33:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 221 (index 17/83) +[05/24 16:33:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:33:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_221_ceiling.xml +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=221, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:33:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 221 episode 0/2 collected=0/2 +[05/24 16:33:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 221 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=False +[05/24 16:34:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_221_ceiling.xml +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=221, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 16:34:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 221 episode 1/2 collected=1/2 +[05/24 16:34:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 221 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 16:36:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_221: 2 episodes +[05/24 16:36:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_221 +[05/24 16:36:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_221 in 3.81s (batch: 3.64s, save: 0.17s) +[05/24 16:36:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_221 +[05/24 16:36:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 221: 0/2 successful episodes +[05/24 16:36:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 238 (index 18/83) +[05/24 16:36:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 238 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:36:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_238_ceiling.xml +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=238, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:36:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 238 episode 0/1 collected=0/2 +[05/24 16:36:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 238 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_2 completed with success=True +[05/24 16:36:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_238: 1 episodes +[05/24 16:36:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_238 +[05/24 16:36:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_238 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:36:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_238 +[05/24 16:36:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 238: 1/1 successful episodes +[05/24 16:36:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 241 (index 19/83) +[05/24 16:36:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:36:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_241_ceiling.xml +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=241, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 16:36:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 241 episode 0/2 collected=0/2 +[05/24 16:36:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 241 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:37:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_241_ceiling.xml +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=241, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:37:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 241 episode 1/2 collected=1/2 +[05/24 16:37:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 241 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:39:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_241: 2 episodes +[05/24 16:39:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_241 +[05/24 16:39:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_241 in 4.94s (batch: 4.78s, save: 0.16s) +[05/24 16:39:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_241 +[05/24 16:39:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 241: 0/2 successful episodes +[05/24 16:39:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 254 (index 20/83) +[05/24 16:39:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:39:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_254_ceiling.xml +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=254, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:39:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 254 episode 0/1 collected=0/2 +[05/24 16:39:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 254 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 16:40:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_254: 1 episodes +[05/24 16:40:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_254 +[05/24 16:40:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_254 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:40:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_254 +[05/24 16:40:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 254: 0/1 successful episodes +[05/24 16:40:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 270 (index 21/83) +[05/24 16:40:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:40:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_270_ceiling.xml +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=270, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:41:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 270 episode 0/2 collected=0/2 +[05/24 16:41:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 270 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:41:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_270_ceiling.xml +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=270, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 16:41:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 270 episode 1/2 collected=1/2 +[05/24 16:41:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 270 episode 1 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_8 completed with success=False +[05/24 16:43:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_270: 2 episodes +[05/24 16:43:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 206 timesteps +[05/24 16:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_270 +[05/24 16:43:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_270 in 4.85s (batch: 4.71s, save: 0.13s) +[05/24 16:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_270 +[05/24 16:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 270: 1/2 successful episodes +[05/24 16:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 274 (index 22/83) +[05/24 16:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 274 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_274_ceiling.xml +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=274, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 16:43:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 274 episode 0/1 collected=0/2 +[05/24 16:43:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 274 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=True +[05/24 16:43:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_274: 1 episodes +[05/24 16:43:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:43:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_274 +[05/24 16:43:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_274 in 2.28s (batch: 2.25s, save: 0.03s) +[05/24 16:43:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_274 +[05/24 16:43:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 274: 1/1 successful episodes +[05/24 16:43:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 300 (index 23/83) +[05/24 16:43:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 300 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:43:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_300_ceiling.xml +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=300, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:43:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 300 episode 0/2 collected=0/2 +[05/24 16:43:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 300 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=True +[05/24 16:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_300_ceiling.xml +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=300, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:44:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 300 episode 1/2 collected=1/2 +[05/24 16:44:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 300 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:45:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_300: 2 episodes +[05/24 16:45:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:45:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_300 +[05/24 16:45:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_300 in 3.61s (batch: 3.50s, save: 0.11s) +[05/24 16:45:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_300 +[05/24 16:45:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 300: 1/2 successful episodes +[05/24 16:45:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 303 (index 24/83) +[05/24 16:45:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:45:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_303_ceiling.xml +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=303, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent smooth glass conical bowl' +[05/24 16:45:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 303 episode 0/1 collected=0/2 +[05/24 16:45:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 303 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_3 completed with success=True +[05/24 16:45:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_303: 1 episodes +[05/24 16:45:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 16:45:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_303 +[05/24 16:45:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_303 in 1.64s (batch: 1.61s, save: 0.04s) +[05/24 16:45:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_303 +[05/24 16:45:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 303: 1/1 successful episodes +[05/24 16:45:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 323 (index 25/83) +[05/24 16:45:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:45:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_323_ceiling.xml +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=323, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper shaker' +[05/24 16:45:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 323 episode 0/2 collected=0/2 +[05/24 16:45:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 323 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=False +[05/24 16:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_323_ceiling.xml +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=323, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:47:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 323 episode 1/2 collected=1/2 +[05/24 16:47:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 323 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 16:48:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_323: 2 episodes +[05/24 16:48:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_323 +[05/24 16:48:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_323 in 5.06s (batch: 4.89s, save: 0.17s) +[05/24 16:48:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_323 +[05/24 16:48:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 323: 0/2 successful episodes +[05/24 16:48:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 325 (index 26/83) +[05/24 16:48:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:48:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_325_ceiling.xml +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=325, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:48:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 325 episode 0/1 collected=0/2 +[05/24 16:48:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 325 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_8 completed with success=True +[05/24 16:49:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_325: 1 episodes +[05/24 16:49:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:49:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_325 +[05/24 16:49:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_325 in 2.17s (batch: 2.14s, save: 0.03s) +[05/24 16:49:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_325 +[05/24 16:49:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 325: 1/1 successful episodes +[05/24 16:49:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 346 (index 27/83) +[05/24 16:49:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:49:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_346_ceiling.xml +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=346, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot' +[05/24 16:49:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 346 episode 0/1 collected=0/2 +[05/24 16:49:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 346 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=False +[05/24 16:50:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_346: 1 episodes +[05/24 16:50:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_346 +[05/24 16:50:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_346 in 1.89s (batch: 1.80s, save: 0.09s) +[05/24 16:50:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_346 +[05/24 16:50:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 346: 0/1 successful episodes +[05/24 16:50:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 348 (index 28/83) +[05/24 16:50:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:50:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_348_ceiling.xml +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=348, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:50:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 348 episode 0/2 collected=0/2 +[05/24 16:50:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 348 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:50:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_348_ceiling.xml +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=348, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:50:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 348 episode 1/2 collected=1/2 +[05/24 16:50:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 348 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:51:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_348: 2 episodes +[05/24 16:51:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:51:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_348 +[05/24 16:51:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_348 in 3.58s (batch: 3.53s, save: 0.05s) +[05/24 16:51:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_348 +[05/24 16:51:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 348: 2/2 successful episodes +[05/24 16:51:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 360 (index 29/83) +[05/24 16:51:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 360 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:51:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_360_ceiling.xml +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=360, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 7 objects +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:51:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 360 episode 0/1 collected=0/2 +[05/24 16:51:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 360 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 16:51:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_360: 1 episodes +[05/24 16:51:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:51:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_360 +[05/24 16:51:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_360 in 2.26s (batch: 2.21s, save: 0.04s) +[05/24 16:51:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_360 +[05/24 16:51:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 360: 1/1 successful episodes +[05/24 16:51:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 373 (index 30/83) +[05/24 16:51:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:51:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_373_ceiling.xml +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=373, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:51:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 373 episode 0/2 collected=0/2 +[05/24 16:51:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 373 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:52:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_373_ceiling.xml +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=373, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:52:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 373 episode 1/2 collected=1/2 +[05/24 16:52:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 373 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:52:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_373: 2 episodes +[05/24 16:52:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_373 +[05/24 16:53:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_373 in 4.61s (batch: 4.50s, save: 0.11s) +[05/24 16:53:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_373 +[05/24 16:53:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 373: 1/2 successful episodes +[05/24 16:53:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 386 (index 31/83) +[05/24 16:53:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 386 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:53:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_386_ceiling.xml +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=386, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with pump' +[05/24 16:53:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 386 episode 0/2 collected=0/2 +[05/24 16:53:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 386 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=True +[05/24 16:53:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_386_ceiling.xml +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=386, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:53:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 386 episode 1/2 collected=1/2 +[05/24 16:53:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 386 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=False +[05/24 16:54:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_386: 2 episodes +[05/24 16:54:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:54:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_386 +[05/24 16:54:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_386 in 4.83s (batch: 4.71s, save: 0.11s) +[05/24 16:54:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_386 +[05/24 16:54:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 386: 1/2 successful episodes +[05/24 16:54:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 397 (index 32/83) +[05/24 16:54:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 397 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:54:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_397_ceiling.xml +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=397, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray bowl' +[05/24 16:54:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 397 episode 0/1 collected=0/2 +[05/24 16:54:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 397 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=True +[05/24 16:54:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_397: 1 episodes +[05/24 16:54:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:54:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_397 +[05/24 16:54:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_397 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 16:54:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_397 +[05/24 16:54:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 397: 1/1 successful episodes +[05/24 16:54:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 412 (index 33/83) +[05/24 16:54:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:54:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_412_ceiling.xml +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=412, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the simple matte blue bowl' +[05/24 16:55:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 412 episode 0/2 collected=0/2 +[05/24 16:55:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 412 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=False +[05/24 16:56:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_412_ceiling.xml +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=412, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:56:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 412 episode 1/2 collected=1/2 +[05/24 16:56:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 412 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:57:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_412: 2 episodes +[05/24 16:57:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:18 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_412 +[05/24 16:57:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_412 in 5.04s (batch: 4.84s, save: 0.20s) +[05/24 16:57:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_412 +[05/24 16:57:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 412: 0/2 successful episodes +[05/24 16:57:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 416 (index 34/83) +[05/24 16:57:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:57:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_416_ceiling.xml +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=416, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:57:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 416 episode 0/1 collected=0/2 +[05/24 16:57:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 416 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:58:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_416: 1 episodes +[05/24 16:58:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:58:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_416 +[05/24 16:58:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_416 in 2.56s (batch: 2.47s, save: 0.09s) +[05/24 16:58:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_416 +[05/24 16:58:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 416: 0/1 successful episodes +[05/24 16:58:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 438 (index 35/83) +[05/24 16:58:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 438 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:58:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_438_ceiling.xml +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=438, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:58:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 438 episode 0/1 collected=0/2 +[05/24 16:58:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 438 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:59:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_438: 1 episodes +[05/24 16:59:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:59:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_438 +[05/24 16:59:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_438 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 16:59:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_438 +[05/24 16:59:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 438: 0/1 successful episodes +[05/24 16:59:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 439 (index 36/83) +[05/24 16:59:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_439_ceiling.xml +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=439, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:59:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 439 episode 0/2 collected=0/2 +[05/24 16:59:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 439 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True +[05/24 17:00:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_439_ceiling.xml +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=439, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:00:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 439 episode 1/2 collected=1/2 +[05/24 17:00:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 439 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:00:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_439: 2 episodes +[05/24 17:00:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 17:00:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:00:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_439 +[05/24 17:00:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_439 in 3.24s (batch: 3.18s, save: 0.05s) +[05/24 17:00:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_439 +[05/24 17:00:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 439: 2/2 successful episodes +[05/24 17:00:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 468 (index 37/83) +[05/24 17:00:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 468 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:00:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_468_ceiling.xml +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=468, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:00:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 468 episode 0/1 collected=0/2 +[05/24 17:00:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 468 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_8 completed with success=True +[05/24 17:00:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_468: 1 episodes +[05/24 17:00:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:00:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_468 +[05/24 17:00:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_468 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:00:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_468 +[05/24 17:00:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 468: 1/1 successful episodes +[05/24 17:00:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 469 (index 38/83) +[05/24 17:00:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 469 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:00:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_469_ceiling.xml +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=469, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 17:00:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 469 episode 0/2 collected=0/2 +[05/24 17:00:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 469 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=True +[05/24 17:00:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_469_ceiling.xml +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=469, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:01:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 469 episode 1/2 collected=1/2 +[05/24 17:01:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 469 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_469: 2 episodes +[05/24 17:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 17:02:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_469 +[05/24 17:02:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_469 in 3.86s (batch: 3.74s, save: 0.12s) +[05/24 17:02:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_469 +[05/24 17:02:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 469: 1/2 successful episodes +[05/24 17:02:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 489 (index 39/83) +[05/24 17:02:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 489 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:02:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_489_ceiling.xml +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=489, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black matte cooking pot with handles' +[05/24 17:02:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 489 episode 0/1 collected=0/2 +[05/24 17:02:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 489 episode 0 object pot_327edb884d62930ab5c6e8fce062daba_1_0_8 completed with success=True +[05/24 17:02:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_489: 1 episodes +[05/24 17:02:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 17:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_489 +[05/24 17:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_489 in 1.65s (batch: 1.61s, save: 0.03s) +[05/24 17:02:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_489 +[05/24 17:02:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 489: 1/1 successful episodes +[05/24 17:02:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 490 (index 40/83) +[05/24 17:02:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:02:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_490_ceiling.xml +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=490, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle utensil' +[05/24 17:02:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 490 episode 0/2 collected=0/2 +[05/24 17:02:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 490 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 17:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_490_ceiling.xml +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=490, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:04:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 490 episode 1/2 collected=1/2 +[05/24 17:04:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 490 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=True +[05/24 17:04:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_490: 2 episodes +[05/24 17:04:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:04:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:04:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_490 +[05/24 17:04:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_490 in 4.67s (batch: 4.56s, save: 0.11s) +[05/24 17:04:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_490 +[05/24 17:04:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 490: 1/2 successful episodes +[05/24 17:04:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 509 (index 41/83) +[05/24 17:04:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:04:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_509_ceiling.xml +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=509, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:04:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 509 episode 0/1 collected=0/2 +[05/24 17:04:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 509 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:05:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_509: 1 episodes +[05/24 17:05:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 358 timesteps +[05/24 17:05:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_509 +[05/24 17:05:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_509 in 1.78s (batch: 1.71s, save: 0.07s) +[05/24 17:05:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_509 +[05/24 17:05:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 509: 1/1 successful episodes +[05/24 17:05:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 524 (index 42/83) +[05/24 17:05:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 524 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:05:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_524_ceiling.xml +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=524, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 2 objects +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:05:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 524 episode 0/1 collected=0/2 +[05/24 17:05:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 524 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=True +[05/24 17:05:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_524: 1 episodes +[05/24 17:05:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/24 17:05:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_524 +[05/24 17:05:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_524 in 1.67s (batch: 1.63s, save: 0.04s) +[05/24 17:05:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_524 +[05/24 17:05:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 524: 1/1 successful episodes +[05/24 17:05:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 534 (index 43/83) +[05/24 17:05:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 534 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:05:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_534_ceiling.xml +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=534, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 17:05:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 534 episode 0/2 collected=0/2 +[05/24 17:05:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 534 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_8 completed with success=False +[05/24 17:07:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_534_ceiling.xml +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=534, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:07:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 534 episode 1/2 collected=1/2 +[05/24 17:07:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 534 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_8 completed with success=False +[05/24 17:08:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_534: 2 episodes +[05/24 17:08:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_534 +[05/24 17:08:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_534 in 3.70s (batch: 3.54s, save: 0.16s) +[05/24 17:08:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_534 +[05/24 17:08:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 534: 0/2 successful episodes +[05/24 17:08:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 540 (index 44/83) +[05/24 17:08:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:08:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_540_ceiling.xml +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=540, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:08:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 540 episode 0/1 collected=0/2 +[05/24 17:08:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 540 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_3 completed with success=False +[05/24 17:10:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_540: 1 episodes +[05/24 17:10:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_540 +[05/24 17:10:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_540 in 2.40s (batch: 2.31s, save: 0.09s) +[05/24 17:10:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_540 +[05/24 17:10:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 540: 0/1 successful episodes +[05/24 17:10:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 548 (index 45/83) +[05/24 17:10:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:10:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_548_ceiling.xml +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=548, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:10:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 548 episode 0/2 collected=0/2 +[05/24 17:10:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 548 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=False +[05/24 17:11:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_548_ceiling.xml +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=548, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:11:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 548 episode 1/2 collected=1/2 +[05/24 17:11:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 548 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 17:13:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_548: 2 episodes +[05/24 17:13:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_548 +[05/24 17:13:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_548 in 3.73s (batch: 3.56s, save: 0.16s) +[05/24 17:13:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_548 +[05/24 17:13:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 548: 0/2 successful episodes +[05/24 17:13:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 567 (index 46/83) +[05/24 17:13:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 567 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:13:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_567_ceiling.xml +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=567, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:13:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 567 episode 0/1 collected=0/2 +[05/24 17:13:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 567 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_567: 1 episodes +[05/24 17:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_567 +[05/24 17:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_567 in 1.83s (batch: 1.74s, save: 0.09s) +[05/24 17:14:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_567 +[05/24 17:14:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 567: 0/1 successful episodes +[05/24 17:14:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 571 (index 47/83) +[05/24 17:14:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:14:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_571_ceiling.xml +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=571, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:14:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 571 episode 0/2 collected=0/2 +[05/24 17:14:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 571 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 17:15:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_571_ceiling.xml +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=571, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:15:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 571 episode 1/2 collected=1/2 +[05/24 17:15:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 571 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 17:17:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_571: 2 episodes +[05/24 17:17:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_571 +[05/24 17:17:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_571 in 4.91s (batch: 4.75s, save: 0.16s) +[05/24 17:17:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_571 +[05/24 17:17:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 571: 0/2 successful episodes +[05/24 17:17:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 583 (index 48/83) +[05/24 17:17:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 583 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:17:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_583_ceiling.xml +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=583, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:17:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 583 episode 0/2 collected=0/2 +[05/24 17:17:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 583 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=False +[05/24 17:18:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_583_ceiling.xml +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=583, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:18:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 583 episode 1/2 collected=1/2 +[05/24 17:18:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 583 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:18:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_583: 2 episodes +[05/24 17:18:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:18:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:19:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_583 +[05/24 17:19:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_583 in 4.66s (batch: 4.55s, save: 0.11s) +[05/24 17:19:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_583 +[05/24 17:19:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 583: 1/2 successful episodes +[05/24 17:19:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 588 (index 49/83) +[05/24 17:19:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:19:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_588_ceiling.xml +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=588, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 17:19:02 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 17:19:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 588 episode 0/1 collected=0/2 +[05/24 17:19:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 588 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_2 completed with success=False +[05/24 17:20:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_588: 1 episodes +[05/24 17:20:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_588 +[05/24 17:20:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_588 in 1.87s (batch: 1.77s, save: 0.10s) +[05/24 17:20:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_588 +[05/24 17:20:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 588: 0/1 successful episodes +[05/24 17:20:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 609 (index 50/83) +[05/24 17:20:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 609 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:20:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_609_ceiling.xml +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=609, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:20:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 609 episode 0/1 collected=0/2 +[05/24 17:20:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 609 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:21:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_609: 1 episodes +[05/24 17:21:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_609 +[05/24 17:21:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_609 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 17:21:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_609 +[05/24 17:21:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 609: 0/1 successful episodes +[05/24 17:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 620 (index 51/83) +[05/24 17:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 620 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_620_ceiling.xml +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=620, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 17:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 620 episode 0/2 collected=0/2 +[05/24 17:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 620 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 17:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_620_ceiling.xml +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=620, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 17:23:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 620 episode 1/2 collected=1/2 +[05/24 17:23:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 620 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 17:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_620: 2 episodes +[05/24 17:23:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 151 timesteps +[05/24 17:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_620 +[05/24 17:23:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_620 in 3.50s (batch: 3.37s, save: 0.13s) +[05/24 17:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_620 +[05/24 17:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 620: 1/2 successful episodes +[05/24 17:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 631 (index 52/83) +[05/24 17:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_631_ceiling.xml +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=631, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:23:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 631 episode 0/1 collected=0/2 +[05/24 17:23:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 631 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:25:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_631: 1 episodes +[05/24 17:25:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_631 +[05/24 17:25:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_631 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 17:25:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_631 +[05/24 17:25:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 631: 0/1 successful episodes +[05/24 17:25:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 638 (index 53/83) +[05/24 17:25:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 638 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:25:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_638_ceiling.xml +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=638, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tomato' +[05/24 17:25:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 638 episode 0/2 collected=0/2 +[05/24 17:25:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 638 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=False +[05/24 17:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_638_ceiling.xml +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=638, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle utensil' +[05/24 17:26:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 638 episode 1/2 collected=1/2 +[05/24 17:26:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 638 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 17:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_638: 2 episodes +[05/24 17:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:27:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_638 +[05/24 17:27:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_638 in 5.23s (batch: 5.06s, save: 0.17s) +[05/24 17:27:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_638 +[05/24 17:27:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 638: 0/2 successful episodes +[05/24 17:27:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 659 (index 54/83) +[05/24 17:27:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 659 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:27:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_659_ceiling.xml +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=659, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:28:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 659 episode 0/2 collected=0/2 +[05/24 17:28:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 659 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:29:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_659_ceiling.xml +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=659, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic bowl' +[05/24 17:29:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 659 episode 1/2 collected=1/2 +[05/24 17:29:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 659 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_6 completed with success=True +[05/24 17:30:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_659: 2 episodes +[05/24 17:30:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 141 timesteps +[05/24 17:30:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_659 +[05/24 17:30:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_659 in 3.59s (batch: 3.43s, save: 0.16s) +[05/24 17:30:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_659 +[05/24 17:30:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 659: 1/2 successful episodes +[05/24 17:30:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 663 (index 55/83) +[05/24 17:30:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 663 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:30:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_663_ceiling.xml +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=663, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:30:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 663 episode 0/1 collected=0/2 +[05/24 17:30:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 663 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 17:31:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_663: 1 episodes +[05/24 17:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_663 +[05/24 17:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_663 in 2.45s (batch: 2.37s, save: 0.09s) +[05/24 17:31:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_663 +[05/24 17:31:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 663: 0/1 successful episodes +[05/24 17:31:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 682 (index 56/83) +[05/24 17:31:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_682_ceiling.xml +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=682, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:31:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 682 episode 0/1 collected=0/2 +[05/24 17:31:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 682 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=False +[05/24 17:32:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_682: 1 episodes +[05/24 17:32:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:32:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_682 +[05/24 17:32:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_682 in 2.41s (batch: 2.30s, save: 0.10s) +[05/24 17:32:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_682 +[05/24 17:32:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 682: 0/1 successful episodes +[05/24 17:32:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 694 (index 57/83) +[05/24 17:32:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 694 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:32:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_694_ceiling.xml +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=694, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:32:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 694 episode 0/2 collected=0/2 +[05/24 17:32:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 694 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:33:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_694_ceiling.xml +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=694, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:33:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 694 episode 1/2 collected=1/2 +[05/24 17:33:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 694 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:34:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_694: 2 episodes +[05/24 17:34:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/24 17:34:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:34:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_694 +[05/24 17:34:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_694 in 3.71s (batch: 3.59s, save: 0.12s) +[05/24 17:34:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_694 +[05/24 17:34:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 694: 1/2 successful episodes +[05/24 17:34:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 699 (index 58/83) +[05/24 17:34:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:34:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_699_ceiling.xml +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=699, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:34:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 699 episode 0/1 collected=0/2 +[05/24 17:34:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 699 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_6 completed with success=True +[05/24 17:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_699: 1 episodes +[05/24 17:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_699 +[05/24 17:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_699 in 2.30s (batch: 2.27s, save: 0.03s) +[05/24 17:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_699 +[05/24 17:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 699: 1/1 successful episodes +[05/24 17:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 720 (index 59/83) +[05/24 17:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_720_ceiling.xml +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=720, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the simple matte blue bowl' +[05/24 17:35:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 720 episode 0/1 collected=0/2 +[05/24 17:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 720 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_3 completed with success=True +[05/24 17:36:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_720: 1 episodes +[05/24 17:36:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 291 timesteps +[05/24 17:36:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_720 +[05/24 17:36:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_720 in 1.74s (batch: 1.67s, save: 0.06s) +[05/24 17:36:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_720 +[05/24 17:36:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 720: 1/1 successful episodes +[05/24 17:36:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 733 (index 60/83) +[05/24 17:36:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 733 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:36:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_733_ceiling.xml +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=733, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:36:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 733 episode 0/2 collected=0/2 +[05/24 17:36:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 733 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:36:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_733_ceiling.xml +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=733, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:36:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 733 episode 1/2 collected=1/2 +[05/24 17:36:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 733 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:38:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_733: 2 episodes +[05/24 17:38:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:38:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:38:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_733 +[05/24 17:38:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_733 in 4.69s (batch: 4.58s, save: 0.11s) +[05/24 17:38:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_733 +[05/24 17:38:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 733: 1/2 successful episodes +[05/24 17:38:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 742 (index 61/83) +[05/24 17:38:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_742_ceiling.xml +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=742, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:38:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 742 episode 0/1 collected=0/2 +[05/24 17:38:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 742 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_9 completed with success=True +[05/24 17:38:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_742: 1 episodes +[05/24 17:38:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 17:38:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_742 +[05/24 17:38:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_742 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:38:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_742 +[05/24 17:38:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 742: 1/1 successful episodes +[05/24 17:38:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 761 (index 62/83) +[05/24 17:38:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 761 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:38:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_761_ceiling.xml +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=761, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:38:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 761 episode 0/2 collected=0/2 +[05/24 17:38:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 761 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:40:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_761_ceiling.xml +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=761, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 761 episode 1/2 collected=1/2 +[05/24 17:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 761 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 17:41:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_761: 2 episodes +[05/24 17:41:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_761 +[05/24 17:41:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_761 in 5.02s (batch: 4.85s, save: 0.17s) +[05/24 17:41:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_761 +[05/24 17:41:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 761: 0/2 successful episodes +[05/24 17:41:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 764 (index 63/83) +[05/24 17:41:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:41:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_764_ceiling.xml +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=764, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 17:41:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 764 episode 0/1 collected=0/2 +[05/24 17:41:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 764 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:41:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_764: 1 episodes +[05/24 17:41:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 53 timesteps +[05/24 17:41:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_764 +[05/24 17:41:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_764 in 1.56s (batch: 1.53s, save: 0.03s) +[05/24 17:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_764 +[05/24 17:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 764: 1/1 successful episodes +[05/24 17:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 783 (index 64/83) +[05/24 17:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 783 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_783_ceiling.xml +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=783, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:42:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 783 episode 0/1 collected=0/2 +[05/24 17:42:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 783 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_2 completed with success=False +[05/24 17:43:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_783: 1 episodes +[05/24 17:43:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_783 +[05/24 17:43:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_783 in 1.90s (batch: 1.79s, save: 0.11s) +[05/24 17:43:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_783 +[05/24 17:43:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 783: 0/1 successful episodes +[05/24 17:43:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 792 (index 65/83) +[05/24 17:43:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:43:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_792_ceiling.xml +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=792, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:43:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 792 episode 0/2 collected=0/2 +[05/24 17:43:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 792 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 17:45:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_792_ceiling.xml +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=792, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 17:45:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 792 episode 1/2 collected=1/2 +[05/24 17:45:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 792 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 17:45:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_792: 2 episodes +[05/24 17:45:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 88 timesteps +[05/24 17:45:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_792 +[05/24 17:45:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_792 in 3.46s (batch: 3.34s, save: 0.12s) +[05/24 17:45:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_792 +[05/24 17:45:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 792: 1/2 successful episodes +[05/24 17:45:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 808 (index 66/83) +[05/24 17:45:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 808 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:45:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_808_ceiling.xml +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=808, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:45:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 808 episode 0/1 collected=0/2 +[05/24 17:45:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 808 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:45:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_808: 1 episodes +[05/24 17:45:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/24 17:45:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_808 +[05/24 17:45:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_808 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 17:45:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_808 +[05/24 17:45:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 808: 1/1 successful episodes +[05/24 17:45:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 827 (index 67/83) +[05/24 17:45:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 827 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:45:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_827_ceiling.xml +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=827, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:45:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 827 episode 0/2 collected=0/2 +[05/24 17:45:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 827 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 17:47:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_827_ceiling.xml +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=827, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:47:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 827 episode 1/2 collected=1/2 +[05/24 17:47:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 827 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=False +[05/24 17:48:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_827: 2 episodes +[05/24 17:48:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_827 +[05/24 17:48:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_827 in 3.80s (batch: 3.64s, save: 0.16s) +[05/24 17:48:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_827 +[05/24 17:48:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 827: 0/2 successful episodes +[05/24 17:48:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 839 (index 68/83) +[05/24 17:48:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 839 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:48:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_839_ceiling.xml +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=839, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 17:48:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 839 episode 0/2 collected=0/2 +[05/24 17:48:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 839 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 17:49:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_839_ceiling.xml +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=839, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:49:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 839 episode 1/2 collected=1/2 +[05/24 17:49:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 839 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_839: 2 episodes +[05/24 17:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_839 +[05/24 17:51:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_839 in 3.68s (batch: 3.52s, save: 0.16s) +[05/24 17:51:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_839 +[05/24 17:51:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 839: 0/2 successful episodes +[05/24 17:51:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 842 (index 69/83) +[05/24 17:51:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 842 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:51:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_842_ceiling.xml +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=842, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:51:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 842 episode 0/1 collected=0/2 +[05/24 17:51:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 842 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:52:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_842: 1 episodes +[05/24 17:52:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_842 +[05/24 17:52:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_842 in 1.87s (batch: 1.78s, save: 0.09s) +[05/24 17:52:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_842 +[05/24 17:52:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 842: 0/1 successful episodes +[05/24 17:52:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 860 (index 70/83) +[05/24 17:52:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 860 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:52:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_860_ceiling.xml +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=860, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 17:52:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 860 episode 0/2 collected=0/2 +[05/24 17:52:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 860 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 17:53:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_860_ceiling.xml +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=860, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 17:54:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 860 episode 1/2 collected=1/2 +[05/24 17:54:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 860 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 17:54:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_860: 2 episodes +[05/24 17:54:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_860 +[05/24 17:54:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_860 in 3.42s (batch: 3.29s, save: 0.12s) +[05/24 17:54:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_860 +[05/24 17:54:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 860: 1/2 successful episodes +[05/24 17:54:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 881 (index 71/83) +[05/24 17:54:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:54:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_881_ceiling.xml +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=881, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:54:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 881 episode 0/1 collected=0/2 +[05/24 17:54:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 881 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 17:55:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_881: 1 episodes +[05/24 17:55:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_881 +[05/24 17:55:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_881 in 1.85s (batch: 1.76s, save: 0.09s) +[05/24 17:55:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_881 +[05/24 17:55:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 881: 0/1 successful episodes +[05/24 17:55:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 882 (index 72/83) +[05/24 17:55:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:55:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_882_ceiling.xml +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=882, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:55:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 882 episode 0/2 collected=0/2 +[05/24 17:55:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 882 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=True +[05/24 17:56:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_882_ceiling.xml +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=882, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:56:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 882 episode 1/2 collected=1/2 +[05/24 17:56:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 882 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 17:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_882: 2 episodes +[05/24 17:56:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:56:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:56:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_882 +[05/24 17:56:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_882 in 3.45s (batch: 3.39s, save: 0.06s) +[05/24 17:56:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_882 +[05/24 17:56:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 882: 2/2 successful episodes +[05/24 17:56:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 895 (index 73/83) +[05/24 17:56:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 895 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:56:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_895_ceiling.xml +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=895, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 17:56:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 895 episode 0/2 collected=0/2 +[05/24 17:56:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 895 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 17:57:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_895_ceiling.xml +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=895, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:57:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 895 episode 1/2 collected=1/2 +[05/24 17:57:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 895 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:58:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_895: 2 episodes +[05/24 17:58:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:58:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:58:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_895 +[05/24 17:58:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_895 in 3.67s (batch: 3.49s, save: 0.18s) +[05/24 17:58:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_895 +[05/24 17:58:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 895: 0/2 successful episodes +[05/24 17:58:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 912 (index 74/83) +[05/24 17:58:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:58:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_912_ceiling.xml +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=912, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:59:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 912 episode 0/2 collected=0/2 +[05/24 17:59:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 912 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 18:00:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_912_ceiling.xml +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=912, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 18:00:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 912 episode 1/2 collected=1/2 +[05/24 18:00:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 912 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 18:01:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_912: 2 episodes +[05/24 18:01:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:01:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:01:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_912 +[05/24 18:01:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_912 in 3.95s (batch: 3.78s, save: 0.17s) +[05/24 18:01:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_912 +[05/24 18:01:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 912: 0/2 successful episodes +[05/24 18:01:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 913 (index 75/83) +[05/24 18:01:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 913 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:01:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_913_ceiling.xml +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=913, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 18:01:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 913 episode 0/1 collected=0/2 +[05/24 18:01:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:01:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 913 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 18:01:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_913: 1 episodes +[05/24 18:01:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 58 timesteps +[05/24 18:01:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_913 +[05/24 18:01:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_913 in 1.60s (batch: 1.57s, save: 0.03s) +[05/24 18:02:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_913 +[05/24 18:02:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 913: 1/1 successful episodes +[05/24 18:02:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 936 (index 76/83) +[05/24 18:02:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 936 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:02:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_936_ceiling.xml +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=936, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 18:02:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 936 episode 0/1 collected=0/2 +[05/24 18:02:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 936 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 18:03:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_936: 1 episodes +[05/24 18:03:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_936 +[05/24 18:03:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_936 in 2.04s (batch: 1.95s, save: 0.08s) +[05/24 18:03:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_936 +[05/24 18:03:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 936: 0/1 successful episodes +[05/24 18:03:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 937 (index 77/83) +[05/24 18:03:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:03:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_937_ceiling.xml +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=937, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 18:03:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 937 episode 0/2 collected=0/2 +[05/24 18:03:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:03:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 937 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=True +[05/24 18:03:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_937_ceiling.xml +[05/24 18:03:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=937, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 18:03:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender polished metal butter knife' +[05/24 18:03:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 937 episode 1/2 collected=1/2 +[05/24 18:03:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:03:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 937 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 18:03:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_937: 2 episodes +[05/24 18:03:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 18:03:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 18:03:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_937 +[05/24 18:03:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_937 in 4.36s (batch: 4.30s, save: 0.05s) +[05/24 18:03:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_937 +[05/24 18:03:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 937: 2/2 successful episodes +[05/24 18:03:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 951 (index 78/83) +[05/24 18:03:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 951 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:03:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_951_ceiling.xml +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=951, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 18:03:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 951 episode 0/1 collected=0/2 +[05/24 18:03:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:05:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 951 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 18:05:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_951: 1 episodes +[05/24 18:05:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:05:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_951 +[05/24 18:05:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_951 in 2.37s (batch: 2.29s, save: 0.08s) +[05/24 18:05:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_951 +[05/24 18:05:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 951: 0/1 successful episodes +[05/24 18:05:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 961 (index 79/83) +[05/24 18:05:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:05:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:05:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_961_ceiling.xml +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=961, scene_dataset=procthor-10k, data_split=val +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:05:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:05:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:05:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:05:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:05:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 18:05:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 961 episode 0/2 collected=0/2 +[05/24 18:05:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:05:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:06:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 961 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 18:06:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:07:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_961_ceiling.xml +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=961, scene_dataset=procthor-10k, data_split=val +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:07:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal ladle' +[05/24 18:07:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 961 episode 1/2 collected=1/2 +[05/24 18:07:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:07:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:08:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 961 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 18:08:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_961: 2 episodes +[05/24 18:08:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:08:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:08:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_961 +[05/24 18:08:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_961 in 4.78s (batch: 4.62s, save: 0.16s) +[05/24 18:08:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_961 +[05/24 18:08:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 961: 0/2 successful episodes +[05/24 18:08:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 973 (index 80/83) +[05/24 18:08:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 973 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:08:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:08:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_973_ceiling.xml +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=973, scene_dataset=procthor-10k, data_split=val +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:08:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:08:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:08:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:08:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:08:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 18:08:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 973 episode 0/2 collected=0/2 +[05/24 18:08:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:10:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 973 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 18:10:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:10:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_973_ceiling.xml +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=973, scene_dataset=procthor-10k, data_split=val +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:10:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:10:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:10:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 18:10:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 973 episode 1/2 collected=1/2 +[05/24 18:10:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 973 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 18:11:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_973: 2 episodes +[05/24 18:11:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:11:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:11:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:11:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:11:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_973 +[05/24 18:11:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_973 in 4.92s (batch: 4.76s, save: 0.16s) +[05/24 18:11:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_973 +[05/24 18:11:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 973: 0/2 successful episodes +[05/24 18:11:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 983 (index 81/83) +[05/24 18:11:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 983 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:11:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:11:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_983_ceiling.xml +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=983, scene_dataset=procthor-10k, data_split=val +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:11:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:11:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:11:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 18:11:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 983 episode 0/1 collected=0/2 +[05/24 18:11:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:11:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:13:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 983 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 18:13:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_983: 1 episodes +[05/24 18:13:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:13:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:13:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_983 +[05/24 18:13:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_983 in 2.37s (batch: 2.29s, save: 0.08s) +[05/24 18:13:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_983 +[05/24 18:13:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 983: 0/1 successful episodes +[05/24 18:13:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 998 (index 82/83) +[05/24 18:13:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 998 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:13:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_998_ceiling.xml +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=998, scene_dataset=procthor-10k, data_split=val +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 18:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 998 episode 0/2 collected=0/2 +[05/24 18:13:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:13:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:13:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 998 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 18:13:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:13:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_998_ceiling.xml +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=998, scene_dataset=procthor-10k, data_split=val +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:13:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:13:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:13:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:13:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:13:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 18:13:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 998 episode 1/2 collected=1/2 +[05/24 18:13:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:13:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:13:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 998 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_7 completed with success=True +[05/24 18:13:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_998: 2 episodes +[05/24 18:13:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 18:13:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 18:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:13:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_998 +[05/24 18:13:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_998 in 3.10s (batch: 3.05s, save: 0.05s) +[05/24 18:13:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_998 +[05/24 18:13:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 998: 2/2 successful episodes +[05/24 18:13:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:13:58 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:13:58 INFO pipeline.py:1499] Success count: 51, Total count: 125 +[05/24 18:13:58 INFO pipeline.py:1500] Success rate: 40.80% +Combined 125 episodes from 83 files → /tmp/tmpk48to316.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/results.csv at-end: 40.8% | oracle: 40.8% of 125 episodes +[2026-05-24 18:14:06,671] INFO MolmoSpaces simulator eval finished: success=51/125 rate=0.4080 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval +[2026-05-24 18:14:06,671] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_06.launcher.log b/pick_msproc/pick_msproc/shards/shard_06.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..75f3791d6e9a3dd028e58af8ad01b6bbada8416d --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_06.launcher.log @@ -0,0 +1,3000 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,442] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,529] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,558] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 (source=arg) +[2026-05-24 15:59:56,724] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,391] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,120] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,120] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,518] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,593] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,629] INFO JsonEvalRunner initialized: 84 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 84 houses with 2 episodes each (168 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [0, + 11, + 16, + 30, + 44, + 63, + 65, + 84, + 86, + 101, + 110, + 126, + 136, + 154, + 158, + 177, + 188, + 195, + 211, + 225, + 240, + 245, + 255, + 275, + 285, + 301, + 311, + 326, + 327, + 349, + 350, + 362, + 374, + 389, + 399, + 413, + 418, + 440, + 444, + 471, + 477, + 492, + 504, + 510, + 525, + 536, + 544, + 549, + 568, + 573, + 585, + 594, + 612, + 624, + 639, + 641, + 664, + 667, + 685, + 700, + 701, + 722, + 736, + 744, + 765, + 766, + 784, + 799, + 819, + 830, + 841, + 845, + 865, + 883, + 886, + 896, + 915, + 918, + 939, + 940, + 954, + 962, + 978, + 989], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,634] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 0 (index 0/84) +[05/24 16:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 0 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:51,237:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:51,237] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_0_ceiling.xml +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=0, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:04:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 0 episode 0/1 collected=0/2 +[05/24 16:04:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:56.511 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:15,993] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:16,316] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:19,103] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:20,434] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:20,437] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 0 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:06:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_0: 1 episodes +[05/24 16:06:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:06:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:06:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_0 +[05/24 16:06:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_0 in 2.10s (batch: 2.08s, save: 0.03s) +[05/24 16:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_0 +[05/24 16:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 0: 1/1 successful episodes +[05/24 16:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 11 (index 1/84) +[05/24 16:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 11 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_11_ceiling.xml +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=11, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:06:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 11 episode 0/1 collected=0/2 +[05/24 16:06:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 11 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:08:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_11: 1 episodes +[05/24 16:08:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_11 +[05/24 16:08:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_11 in 2.22s (batch: 2.14s, save: 0.08s) +[05/24 16:08:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_11 +[05/24 16:08:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 11: 0/1 successful episodes +[05/24 16:08:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 16 (index 2/84) +[05/24 16:08:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 16 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_16_ceiling.xml +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=16, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup without handle' +[05/24 16:08:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 16 episode 0/2 collected=0/2 +[05/24 16:08:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:08:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 16 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_2 completed with success=True +[05/24 16:08:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_16_ceiling.xml +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=16, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:08:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 16 episode 1/2 collected=1/2 +[05/24 16:08:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 16 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:09:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_16: 2 episodes +[05/24 16:09:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 16:09:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_16 +[05/24 16:09:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_16 in 4.54s (batch: 4.43s, save: 0.11s) +[05/24 16:09:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_16 +[05/24 16:09:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 16: 1/2 successful episodes +[05/24 16:09:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 30 (index 3/84) +[05/24 16:09:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 30 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:09:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_30_ceiling.xml +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=30, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 16:09:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 30 episode 0/2 collected=0/2 +[05/24 16:09:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 30 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_2 completed with success=True +[05/24 16:09:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_30_ceiling.xml +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=30, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:09:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 30 episode 1/2 collected=1/2 +[05/24 16:09:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 30 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True +[05/24 16:10:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_30: 2 episodes +[05/24 16:10:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:10:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 16:10:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_30 +[05/24 16:10:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_30 in 3.93s (batch: 3.87s, save: 0.06s) +[05/24 16:10:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_30 +[05/24 16:10:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 30: 2/2 successful episodes +[05/24 16:10:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 44 (index 4/84) +[05/24 16:10:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 44 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_44_ceiling.xml +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=44, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:10:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 44 episode 0/1 collected=0/2 +[05/24 16:10:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 44 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_8 completed with success=True +[05/24 16:10:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_44: 1 episodes +[05/24 16:10:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:10:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_44 +[05/24 16:10:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_44 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:10:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_44 +[05/24 16:10:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 44: 1/1 successful episodes +[05/24 16:10:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 63 (index 5/84) +[05/24 16:10:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 63 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:10:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_63_ceiling.xml +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=63, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:10:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 63 episode 0/2 collected=0/2 +[05/24 16:10:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 63 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_2_0_6 completed with success=True +[05/24 16:10:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_63_ceiling.xml +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=63, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:10:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 63 episode 1/2 collected=1/2 +[05/24 16:10:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 63 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 16:12:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_63: 2 episodes +[05/24 16:12:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:12:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_63 +[05/24 16:12:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_63 in 4.58s (batch: 4.47s, save: 0.11s) +[05/24 16:12:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_63 +[05/24 16:12:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 63: 1/2 successful episodes +[05/24 16:12:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 65 (index 6/84) +[05/24 16:12:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 65 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:12:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_65_ceiling.xml +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=65, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:12:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 65 episode 0/1 collected=0/2 +[05/24 16:12:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 65 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_6 completed with success=True +[05/24 16:12:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_65: 1 episodes +[05/24 16:12:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 16:13:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_65 +[05/24 16:13:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_65 in 1.96s (batch: 1.92s, save: 0.04s) +[05/24 16:13:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_65 +[05/24 16:13:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 65: 1/1 successful episodes +[05/24 16:13:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 84 (index 7/84) +[05/24 16:13:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 84 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:13:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_84_ceiling.xml +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=84, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:13:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 84 episode 0/1 collected=0/2 +[05/24 16:13:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 84 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_2_0_2 completed with success=True +[05/24 16:13:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_84: 1 episodes +[05/24 16:13:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:13:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_84 +[05/24 16:13:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_84 in 2.11s (batch: 2.07s, save: 0.04s) +[05/24 16:13:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_84 +[05/24 16:13:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 84: 1/1 successful episodes +[05/24 16:13:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 86 (index 8/84) +[05/24 16:13:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 86 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:13:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_86_ceiling.xml +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=86, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the knife' +[05/24 16:13:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 86 episode 0/2 collected=0/2 +[05/24 16:13:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 86 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:13:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_86_ceiling.xml +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=86, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:13:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 86 episode 1/2 collected=1/2 +[05/24 16:13:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 86 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 16:13:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_86: 2 episodes +[05/24 16:13:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_86 +[05/24 16:13:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_86 in 3.94s (batch: 3.89s, save: 0.05s) +[05/24 16:13:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_86 +[05/24 16:13:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 86: 2/2 successful episodes +[05/24 16:13:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 101 (index 9/84) +[05/24 16:13:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_101_ceiling.xml +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=101, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:14:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 101 episode 0/2 collected=0/2 +[05/24 16:14:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 101 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_101_ceiling.xml +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=101, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:15:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 101 episode 1/2 collected=1/2 +[05/24 16:15:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:17:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 101 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:17:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_101: 2 episodes +[05/24 16:17:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_101 +[05/24 16:17:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_101 in 4.31s (batch: 4.15s, save: 0.16s) +[05/24 16:17:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_101 +[05/24 16:17:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 101: 0/2 successful episodes +[05/24 16:17:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 110 (index 10/84) +[05/24 16:17:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 110 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:17:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_110_ceiling.xml +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=110, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:17:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 110 episode 0/2 collected=0/2 +[05/24 16:17:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 110 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:18:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_110_ceiling.xml +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=110, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 16:18:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 110 episode 1/2 collected=1/2 +[05/24 16:18:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 110 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=True +[05/24 16:18:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_110: 2 episodes +[05/24 16:18:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:18:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_110 +[05/24 16:18:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_110 in 4.02s (batch: 3.91s, save: 0.11s) +[05/24 16:19:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_110 +[05/24 16:19:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 110: 1/2 successful episodes +[05/24 16:19:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 126 (index 11/84) +[05/24 16:19:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:19:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_126_ceiling.xml +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=126, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:19:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 126 episode 0/2 collected=0/2 +[05/24 16:19:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 126 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:19:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_126_ceiling.xml +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=126, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:19:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 126 episode 1/2 collected=1/2 +[05/24 16:19:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 126 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:19:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_126: 2 episodes +[05/24 16:19:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:19:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 16:19:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_126 +[05/24 16:19:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_126 in 4.34s (batch: 4.28s, save: 0.06s) +[05/24 16:19:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_126 +[05/24 16:19:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 126: 2/2 successful episodes +[05/24 16:19:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 136 (index 12/84) +[05/24 16:19:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:19:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_136_ceiling.xml +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=136, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:19:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 136 episode 0/1 collected=0/2 +[05/24 16:19:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 136 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:21:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_136: 1 episodes +[05/24 16:21:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_136 +[05/24 16:21:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_136 in 2.40s (batch: 2.31s, save: 0.09s) +[05/24 16:21:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_136 +[05/24 16:21:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 136: 0/1 successful episodes +[05/24 16:21:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 154 (index 13/84) +[05/24 16:21:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 154 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:21:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_154_ceiling.xml +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=154, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:21:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 154 episode 0/2 collected=0/2 +[05/24 16:21:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 154 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=True +[05/24 16:21:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_154_ceiling.xml +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=154, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:21:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 154 episode 1/2 collected=1/2 +[05/24 16:21:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 154 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:21:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_154: 2 episodes +[05/24 16:21:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 119 timesteps +[05/24 16:21:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 16:21:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_154 +[05/24 16:21:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_154 in 3.87s (batch: 3.81s, save: 0.07s) +[05/24 16:21:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_154 +[05/24 16:21:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 154: 2/2 successful episodes +[05/24 16:21:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 158 (index 14/84) +[05/24 16:21:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:21:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_158_ceiling.xml +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=158, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:22:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 158 episode 0/1 collected=0/2 +[05/24 16:22:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 158 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:23:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_158: 1 episodes +[05/24 16:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_158 +[05/24 16:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_158 in 2.46s (batch: 2.36s, save: 0.10s) +[05/24 16:23:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_158 +[05/24 16:23:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 158: 0/1 successful episodes +[05/24 16:23:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 177 (index 15/84) +[05/24 16:23:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:23:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_177_ceiling.xml +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=177, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:23:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 177 episode 0/1 collected=0/2 +[05/24 16:23:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 177 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=True +[05/24 16:23:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_177: 1 episodes +[05/24 16:23:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_177 +[05/24 16:23:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_177 in 2.08s (batch: 2.06s, save: 0.03s) +[05/24 16:23:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_177 +[05/24 16:23:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 177: 1/1 successful episodes +[05/24 16:23:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 188 (index 16/84) +[05/24 16:23:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:23:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_188_ceiling.xml +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=188, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:23:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 188 episode 0/2 collected=0/2 +[05/24 16:23:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 188 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 16:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_188_ceiling.xml +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=188, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:25:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 188 episode 1/2 collected=1/2 +[05/24 16:25:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 188 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=False +[05/24 16:26:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_188: 2 episodes +[05/24 16:26:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_188 +[05/24 16:26:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_188 in 4.78s (batch: 4.62s, save: 0.16s) +[05/24 16:26:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_188 +[05/24 16:26:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 188: 0/2 successful episodes +[05/24 16:26:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 195 (index 17/84) +[05/24 16:26:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 195 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:26:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_195_ceiling.xml +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=195, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:26:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 195 episode 0/1 collected=0/2 +[05/24 16:26:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 195 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_4 completed with success=True +[05/24 16:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_195: 1 episodes +[05/24 16:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 290 timesteps +[05/24 16:27:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_195 +[05/24 16:27:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_195 in 2.05s (batch: 1.99s, save: 0.06s) +[05/24 16:27:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_195 +[05/24 16:27:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 195: 1/1 successful episodes +[05/24 16:27:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 211 (index 18/84) +[05/24 16:27:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:27:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_211_ceiling.xml +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=211, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:27:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 211 episode 0/1 collected=0/2 +[05/24 16:27:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 211 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_4 completed with success=True +[05/24 16:29:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_211: 1 episodes +[05/24 16:29:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 284 timesteps +[05/24 16:29:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_211 +[05/24 16:29:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_211 in 2.08s (batch: 2.01s, save: 0.08s) +[05/24 16:29:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_211 +[05/24 16:29:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 211: 1/1 successful episodes +[05/24 16:29:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 225 (index 19/84) +[05/24 16:29:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 225 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:29:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_225_ceiling.xml +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=225, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal rectangular box' +[05/24 16:29:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 225 episode 0/2 collected=0/2 +[05/24 16:29:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 225 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_9 completed with success=False +[05/24 16:30:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_225_ceiling.xml +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=225, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:30:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 225 episode 1/2 collected=1/2 +[05/24 16:30:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 225 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 16:31:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_225: 2 episodes +[05/24 16:31:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_225 +[05/24 16:32:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_225 in 4.30s (batch: 4.14s, save: 0.16s) +[05/24 16:32:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_225 +[05/24 16:32:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 225: 0/2 successful episodes +[05/24 16:32:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 240 (index 20/84) +[05/24 16:32:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:32:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_240_ceiling.xml +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=240, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:32:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 240 episode 0/1 collected=0/2 +[05/24 16:32:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 240 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 16:32:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_240: 1 episodes +[05/24 16:32:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:32:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_240 +[05/24 16:32:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_240 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 16:32:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_240 +[05/24 16:32:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 240: 1/1 successful episodes +[05/24 16:32:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 245 (index 21/84) +[05/24 16:32:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 245 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:32:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_245_ceiling.xml +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=245, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:32:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 245 episode 0/2 collected=0/2 +[05/24 16:32:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 245 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 16:33:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_245_ceiling.xml +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=245, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:33:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 245 episode 1/2 collected=1/2 +[05/24 16:33:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 245 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True +[05/24 16:33:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_245: 2 episodes +[05/24 16:33:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 16:33:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_245 +[05/24 16:33:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_245 in 4.35s (batch: 4.23s, save: 0.12s) +[05/24 16:33:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_245 +[05/24 16:33:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 245: 1/2 successful episodes +[05/24 16:33:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 255 (index 22/84) +[05/24 16:33:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:33:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_255_ceiling.xml +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=255, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:33:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 255 episode 0/1 collected=0/2 +[05/24 16:33:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 255 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:33:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_255: 1 episodes +[05/24 16:33:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 22 timesteps +[05/24 16:34:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_255 +[05/24 16:34:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_255 in 2.07s (batch: 2.03s, save: 0.03s) +[05/24 16:34:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_255 +[05/24 16:34:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 255: 1/1 successful episodes +[05/24 16:34:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 275 (index 23/84) +[05/24 16:34:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 275 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:34:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_275_ceiling.xml +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=275, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife metal' +[05/24 16:34:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 275 episode 0/2 collected=0/2 +[05/24 16:34:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 275 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_2_0_2 completed with success=True +[05/24 16:34:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_275_ceiling.xml +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=275, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 16:34:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 275 episode 1/2 collected=1/2 +[05/24 16:34:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 275 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 16:35:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_275: 2 episodes +[05/24 16:35:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:35:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_275 +[05/24 16:35:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_275 in 4.69s (batch: 4.58s, save: 0.11s) +[05/24 16:35:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_275 +[05/24 16:35:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 275: 1/2 successful episodes +[05/24 16:35:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 285 (index 24/84) +[05/24 16:35:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 285 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:35:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_285_ceiling.xml +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=285, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:35:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 285 episode 0/1 collected=0/2 +[05/24 16:35:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 285 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_6 completed with success=False +[05/24 16:37:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_285: 1 episodes +[05/24 16:37:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_285 +[05/24 16:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_285 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 16:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_285 +[05/24 16:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 285: 0/1 successful episodes +[05/24 16:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 301 (index 25/84) +[05/24 16:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 301 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_301_ceiling.xml +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=301, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:37:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 301 episode 0/2 collected=0/2 +[05/24 16:37:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 301 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True +[05/24 16:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_301_ceiling.xml +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=301, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small stemmed red apple' +[05/24 16:37:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 301 episode 1/2 collected=1/2 +[05/24 16:37:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[2026-05-24 16:38:46,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/24 16:40:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 301 episode 1 object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_2 completed with success=False +[05/24 16:40:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_301: 2 episodes +[05/24 16:40:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/24 16:40:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_301 +[05/24 16:40:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_301 in 4.07s (batch: 3.95s, save: 0.11s) +[05/24 16:40:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_301 +[05/24 16:40:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 301: 1/2 successful episodes +[05/24 16:40:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 311 (index 26/84) +[05/24 16:40:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 311 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:40:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_311_ceiling.xml +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=311, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:40:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 311 episode 0/1 collected=0/2 +[05/24 16:40:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 311 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_6 completed with success=False +[05/24 16:41:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_311: 1 episodes +[05/24 16:41:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_311 +[05/24 16:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_311 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 16:41:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_311 +[05/24 16:41:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 311: 0/1 successful episodes +[05/24 16:41:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 326 (index 27/84) +[05/24 16:41:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:41:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_326_ceiling.xml +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=326, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:41:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 326 episode 0/2 collected=0/2 +[05/24 16:41:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 326 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_8 completed with success=True +[05/24 16:42:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_326_ceiling.xml +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=326, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 16:42:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 326 episode 1/2 collected=1/2 +[05/24 16:42:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 326 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 16:43:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_326: 2 episodes +[05/24 16:43:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_326 +[05/24 16:43:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_326 in 4.12s (batch: 4.01s, save: 0.11s) +[05/24 16:43:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_326 +[05/24 16:43:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 326: 1/2 successful episodes +[05/24 16:43:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 327 (index 28/84) +[05/24 16:43:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:43:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_327_ceiling.xml +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=327, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:43:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 327 episode 0/1 collected=0/2 +[05/24 16:43:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 327 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=True +[05/24 16:43:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_327: 1 episodes +[05/24 16:43:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 16:43:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_327 +[05/24 16:43:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_327 in 2.15s (batch: 2.11s, save: 0.03s) +[05/24 16:43:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_327 +[05/24 16:43:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 327: 1/1 successful episodes +[05/24 16:43:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 349 (index 29/84) +[05/24 16:43:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 349 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:43:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_349_ceiling.xml +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=349, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal fork' +[05/24 16:44:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 349 episode 0/1 collected=0/2 +[05/24 16:44:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 349 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:44:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_349: 1 episodes +[05/24 16:44:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:44:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_349 +[05/24 16:44:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_349 in 2.07s (batch: 2.03s, save: 0.04s) +[05/24 16:44:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_349 +[05/24 16:44:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 349: 1/1 successful episodes +[05/24 16:44:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 350 (index 30/84) +[05/24 16:44:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:44:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_350_ceiling.xml +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=350, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:44:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 350 episode 0/2 collected=0/2 +[05/24 16:44:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 350 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 16:44:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_350_ceiling.xml +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=350, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:44:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 350 episode 1/2 collected=1/2 +[05/24 16:44:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 350 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=False +[05/24 16:45:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_350: 2 episodes +[05/24 16:45:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 16:46:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_350 +[05/24 16:46:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_350 in 4.13s (batch: 4.02s, save: 0.11s) +[05/24 16:46:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_350 +[05/24 16:46:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 350: 1/2 successful episodes +[05/24 16:46:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 362 (index 31/84) +[05/24 16:46:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:46:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_362_ceiling.xml +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=362, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:46:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 362 episode 0/1 collected=0/2 +[05/24 16:46:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 362 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 16:46:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_362: 1 episodes +[05/24 16:46:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_362 +[05/24 16:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_362 in 2.20s (batch: 2.16s, save: 0.03s) +[05/24 16:46:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_362 +[05/24 16:46:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 362: 1/1 successful episodes +[05/24 16:46:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 374 (index 32/84) +[05/24 16:46:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:46:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_374_ceiling.xml +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=374, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:46:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 374 episode 0/2 collected=0/2 +[05/24 16:46:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 374 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 16:46:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_374_ceiling.xml +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=374, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:46:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 374 episode 1/2 collected=1/2 +[05/24 16:46:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 374 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True +[05/24 16:46:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_374: 2 episodes +[05/24 16:46:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 16:46:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_374 +[05/24 16:46:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_374 in 3.93s (batch: 3.88s, save: 0.06s) +[05/24 16:46:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_374 +[05/24 16:46:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 374: 2/2 successful episodes +[05/24 16:46:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 389 (index 33/84) +[05/24 16:46:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:46:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_389_ceiling.xml +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=389, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:47:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 389 episode 0/2 collected=0/2 +[05/24 16:47:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 389 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:48:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_389_ceiling.xml +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=389, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:48:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 389 episode 1/2 collected=1/2 +[05/24 16:48:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 389 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:48:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_389: 2 episodes +[05/24 16:48:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_389 +[05/24 16:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_389 in 4.06s (batch: 3.95s, save: 0.12s) +[05/24 16:48:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_389 +[05/24 16:48:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 389: 1/2 successful episodes +[05/24 16:48:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 399 (index 34/84) +[05/24 16:48:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:48:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_399_ceiling.xml +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=399, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 16:48:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 399 episode 0/1 collected=0/2 +[05/24 16:48:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 399 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 16:50:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_399: 1 episodes +[05/24 16:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_399 +[05/24 16:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_399 in 2.32s (batch: 2.24s, save: 0.08s) +[05/24 16:50:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_399 +[05/24 16:50:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 399: 0/1 successful episodes +[05/24 16:50:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 413 (index 35/84) +[05/24 16:50:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 413 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:50:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_413_ceiling.xml +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=413, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:50:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 413 episode 0/2 collected=0/2 +[05/24 16:50:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 413 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:51:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_413_ceiling.xml +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=413, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:52:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 413 episode 1/2 collected=1/2 +[05/24 16:52:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 413 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:52:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_413: 2 episodes +[05/24 16:52:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:52:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_413 +[05/24 16:52:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_413 in 4.00s (batch: 3.89s, save: 0.11s) +[05/24 16:52:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_413 +[05/24 16:52:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 413: 1/2 successful episodes +[05/24 16:52:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 418 (index 36/84) +[05/24 16:52:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 418 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:52:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_418_ceiling.xml +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=418, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:52:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 418 episode 0/1 collected=0/2 +[05/24 16:52:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 418 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True +[05/24 16:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_418: 1 episodes +[05/24 16:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:52:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_418 +[05/24 16:52:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_418 in 1.93s (batch: 1.88s, save: 0.05s) +[05/24 16:52:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_418 +[05/24 16:52:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 418: 1/1 successful episodes +[05/24 16:52:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 440 (index 37/84) +[05/24 16:52:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:52:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_440_ceiling.xml +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=440, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 16:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 440 episode 0/1 collected=0/2 +[05/24 16:52:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 440 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=False +[05/24 16:53:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_440: 1 episodes +[05/24 16:53:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_440 +[05/24 16:53:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_440 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 16:53:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_440 +[05/24 16:53:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 440: 0/1 successful episodes +[05/24 16:53:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 444 (index 38/84) +[05/24 16:53:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:53:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_444_ceiling.xml +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=444, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:54:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 444 episode 0/2 collected=0/2 +[05/24 16:54:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 444 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 16:55:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_444_ceiling.xml +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=444, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:55:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 444 episode 1/2 collected=1/2 +[05/24 16:55:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 444 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:55:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_444: 2 episodes +[05/24 16:55:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 88 timesteps +[05/24 16:55:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_444 +[05/24 16:55:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_444 in 3.98s (batch: 3.86s, save: 0.12s) +[05/24 16:55:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_444 +[05/24 16:55:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 444: 1/2 successful episodes +[05/24 16:55:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 471 (index 39/84) +[05/24 16:55:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 471 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:55:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_471_ceiling.xml +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=471, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:55:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 471 episode 0/2 collected=0/2 +[05/24 16:55:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 471 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:56:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_471_ceiling.xml +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=471, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:56:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 471 episode 1/2 collected=1/2 +[05/24 16:56:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 471 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:57:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_471: 2 episodes +[05/24 16:57:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:57:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_471 +[05/24 16:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_471 in 4.54s (batch: 4.42s, save: 0.12s) +[05/24 16:57:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_471 +[05/24 16:57:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 471: 1/2 successful episodes +[05/24 16:57:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 477 (index 40/84) +[05/24 16:57:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 477 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:57:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_477_ceiling.xml +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=477, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:57:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 477 episode 0/1 collected=0/2 +[05/24 16:57:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 477 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=True +[05/24 16:57:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_477: 1 episodes +[05/24 16:57:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/24 16:57:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_477 +[05/24 16:57:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_477 in 1.97s (batch: 1.94s, save: 0.03s) +[05/24 16:57:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_477 +[05/24 16:57:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 477: 1/1 successful episodes +[05/24 16:57:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 492 (index 41/84) +[05/24 16:57:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_492_ceiling.xml +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=492, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 16:57:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 492 episode 0/1 collected=0/2 +[05/24 16:57:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 492 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=True +[05/24 16:57:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_492: 1 episodes +[05/24 16:57:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:58:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_492 +[05/24 16:58:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_492 in 1.89s (batch: 1.86s, save: 0.03s) +[05/24 16:58:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_492 +[05/24 16:58:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 492: 1/1 successful episodes +[05/24 16:58:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 504 (index 42/84) +[05/24 16:58:01 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:58:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_504_ceiling.xml +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=504, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:58:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 504 episode 0/2 collected=0/2 +[05/24 16:58:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 504 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:59:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_504_ceiling.xml +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=504, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with green stem' +[05/24 16:59:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 504 episode 1/2 collected=1/2 +[05/24 16:59:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 504 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=False +[05/24 17:00:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_504: 2 episodes +[05/24 17:00:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_504 +[05/24 17:00:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_504 in 4.34s (batch: 4.18s, save: 0.16s) +[05/24 17:00:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_504 +[05/24 17:00:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 504: 0/2 successful episodes +[05/24 17:00:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 510 (index 43/84) +[05/24 17:00:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 510 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:00:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_510_ceiling.xml +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=510, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:00:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 510 episode 0/1 collected=0/2 +[05/24 17:00:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 510 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:01:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_510: 1 episodes +[05/24 17:01:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_510 +[05/24 17:01:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_510 in 2.18s (batch: 2.10s, save: 0.09s) +[05/24 17:01:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_510 +[05/24 17:01:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 510: 0/1 successful episodes +[05/24 17:01:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 525 (index 44/84) +[05/24 17:01:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 525 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:01:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_525_ceiling.xml +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=525, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:02:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 525 episode 0/1 collected=0/2 +[05/24 17:02:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 525 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 17:02:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_525: 1 episodes +[05/24 17:02:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 149 timesteps +[05/24 17:02:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_525 +[05/24 17:02:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_525 in 1.97s (batch: 1.92s, save: 0.05s) +[05/24 17:02:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_525 +[05/24 17:02:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 525: 1/1 successful episodes +[05/24 17:02:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 536 (index 45/84) +[05/24 17:02:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:02:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_536_ceiling.xml +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=536, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal box' +[05/24 17:02:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 536 episode 0/2 collected=0/2 +[05/24 17:02:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 536 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7 completed with success=False +[05/24 17:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_536_ceiling.xml +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=536, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 17:04:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 536 episode 1/2 collected=1/2 +[05/24 17:04:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 536 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=False +[05/24 17:05:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_536: 2 episodes +[05/24 17:05:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_536 +[05/24 17:05:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_536 in 4.34s (batch: 4.17s, save: 0.16s) +[05/24 17:05:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_536 +[05/24 17:05:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 536: 0/2 successful episodes +[05/24 17:05:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 544 (index 46/84) +[05/24 17:05:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 544 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:05:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_544_ceiling.xml +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=544, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium blue bowl with rounded edge' +[05/24 17:06:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 544 episode 0/1 collected=0/2 +[05/24 17:06:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 544 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=True +[05/24 17:06:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_544: 1 episodes +[05/24 17:06:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:06:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_544 +[05/24 17:06:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_544 in 1.92s (batch: 1.89s, save: 0.03s) +[05/24 17:06:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_544 +[05/24 17:06:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 544: 1/1 successful episodes +[05/24 17:06:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 549 (index 47/84) +[05/24 17:06:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:06:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_549_ceiling.xml +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=549, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:06:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 549 episode 0/2 collected=0/2 +[05/24 17:06:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 549 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:06:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_549_ceiling.xml +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=549, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 17:06:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 549 episode 1/2 collected=1/2 +[05/24 17:06:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 549 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_4 completed with success=False +[05/24 17:07:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_549: 2 episodes +[05/24 17:07:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:07:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_549 +[05/24 17:08:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_549 in 4.48s (batch: 4.32s, save: 0.16s) +[05/24 17:08:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_549 +[05/24 17:08:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 549: 1/2 successful episodes +[05/24 17:08:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 568 (index 48/84) +[05/24 17:08:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:08:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_568_ceiling.xml +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=568, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:08:03 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 17:08:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 568 episode 0/1 collected=0/2 +[05/24 17:08:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 568 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_2 completed with success=False +[05/24 17:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_568: 1 episodes +[05/24 17:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:09:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_568 +[05/24 17:09:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_568 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 17:09:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_568 +[05/24 17:09:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 568: 0/1 successful episodes +[05/24 17:09:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 573 (index 49/84) +[05/24 17:09:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:09:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_573_ceiling.xml +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=573, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with gold pump' +[05/24 17:09:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 573 episode 0/2 collected=0/2 +[05/24 17:09:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 573 episode 0 object soapdispenser_d51dec62d839524db5e5539199f5e1d2_1_0_2 completed with success=True +[05/24 17:09:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_573_ceiling.xml +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=573, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the bowl' +[05/24 17:09:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 573 episode 1/2 collected=1/2 +[05/24 17:09:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 573 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_3_0_6 completed with success=True +[05/24 17:10:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_573: 2 episodes +[05/24 17:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 275 timesteps +[05/24 17:10:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_573 +[05/24 17:10:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_573 in 4.10s (batch: 4.01s, save: 0.08s) +[05/24 17:10:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_573 +[05/24 17:10:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 573: 2/2 successful episodes +[05/24 17:10:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 585 (index 50/84) +[05/24 17:10:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:10:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_585_ceiling.xml +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=585, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 17:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 585 episode 0/2 collected=0/2 +[05/24 17:10:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 585 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 17:11:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_585_ceiling.xml +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=585, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:11:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 585 episode 1/2 collected=1/2 +[05/24 17:11:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 585 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:11:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_585: 2 episodes +[05/24 17:11:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:11:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 17:11:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_585 +[05/24 17:11:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_585 in 3.84s (batch: 3.78s, save: 0.05s) +[05/24 17:11:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_585 +[05/24 17:11:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 585: 2/2 successful episodes +[05/24 17:11:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 594 (index 51/84) +[05/24 17:11:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 594 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:11:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_594_ceiling.xml +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=594, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:11:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 594 episode 0/1 collected=0/2 +[05/24 17:11:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 594 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:11:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_594: 1 episodes +[05/24 17:11:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:11:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_594 +[05/24 17:11:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_594 in 1.92s (batch: 1.90s, save: 0.02s) +[05/24 17:11:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_594 +[05/24 17:11:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 594: 1/1 successful episodes +[05/24 17:11:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 612 (index 52/84) +[05/24 17:11:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:11:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_612_ceiling.xml +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=612, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent smooth glass conical bowl' +[05/24 17:11:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 612 episode 0/1 collected=0/2 +[05/24 17:11:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 612 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=True +[05/24 17:11:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_612: 1 episodes +[05/24 17:11:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 67 timesteps +[05/24 17:11:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_612 +[05/24 17:11:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_612 in 1.96s (batch: 1.93s, save: 0.03s) +[05/24 17:11:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_612 +[05/24 17:11:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 612: 1/1 successful episodes +[05/24 17:11:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 624 (index 53/84) +[05/24 17:11:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 624 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:11:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_624_ceiling.xml +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=624, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:11:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 624 episode 0/2 collected=0/2 +[05/24 17:11:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 624 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 17:13:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_624_ceiling.xml +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=624, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:13:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 624 episode 1/2 collected=1/2 +[05/24 17:13:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 624 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=False +[05/24 17:14:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_624: 2 episodes +[05/24 17:14:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_624 +[05/24 17:14:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_624 in 4.26s (batch: 4.09s, save: 0.17s) +[05/24 17:14:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_624 +[05/24 17:14:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 624: 0/2 successful episodes +[05/24 17:14:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 639 (index 54/84) +[05/24 17:14:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 639 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:14:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_639_ceiling.xml +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=639, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 17:14:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 639 episode 0/2 collected=0/2 +[05/24 17:14:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 639 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 17:14:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_639_ceiling.xml +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=639, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:14:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 639 episode 1/2 collected=1/2 +[05/24 17:14:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 639 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 17:16:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_639: 2 episodes +[05/24 17:16:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:16:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_639 +[05/24 17:16:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_639 in 4.49s (batch: 4.36s, save: 0.13s) +[05/24 17:16:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_639 +[05/24 17:16:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 639: 1/2 successful episodes +[05/24 17:16:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 641 (index 55/84) +[05/24 17:16:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:16:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_641_ceiling.xml +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=641, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:16:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 641 episode 0/1 collected=0/2 +[05/24 17:16:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 641 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=False +[05/24 17:18:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_641: 1 episodes +[05/24 17:18:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:18:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_641 +[05/24 17:18:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_641 in 2.39s (batch: 2.30s, save: 0.09s) +[05/24 17:18:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_641 +[05/24 17:18:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 641: 0/1 successful episodes +[05/24 17:18:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 664 (index 56/84) +[05/24 17:18:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 664 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:18:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_664_ceiling.xml +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=664, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:18:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 664 episode 0/1 collected=0/2 +[05/24 17:18:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 664 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=False +[05/24 17:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_664: 1 episodes +[05/24 17:19:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_664 +[05/24 17:19:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_664 in 2.36s (batch: 2.27s, save: 0.09s) +[05/24 17:19:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_664 +[05/24 17:19:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 664: 0/1 successful episodes +[05/24 17:19:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 667 (index 57/84) +[05/24 17:19:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 667 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:19:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_667_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=667, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 667 episode 0/2 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 667 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 17:21:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_667_ceiling.xml +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=667, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:21:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 667 episode 1/2 collected=1/2 +[05/24 17:21:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 667 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 17:21:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_667: 2 episodes +[05/24 17:21:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_667 +[05/24 17:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_667 in 4.25s (batch: 4.12s, save: 0.13s) +[05/24 17:21:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_667 +[05/24 17:21:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 667: 1/2 successful episodes +[05/24 17:21:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 685 (index 58/84) +[05/24 17:21:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 685 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:21:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_685_ceiling.xml +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=685, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 17:21:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 685 episode 0/1 collected=0/2 +[05/24 17:21:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 685 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 17:21:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_685: 1 episodes +[05/24 17:21:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:21:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_685 +[05/24 17:21:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_685 in 1.89s (batch: 1.86s, save: 0.03s) +[05/24 17:21:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_685 +[05/24 17:21:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 685: 1/1 successful episodes +[05/24 17:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 700 (index 59/84) +[05/24 17:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_700_ceiling.xml +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=700, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:21:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 700 episode 0/2 collected=0/2 +[05/24 17:21:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 700 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 17:23:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_700_ceiling.xml +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=700, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 17:23:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 700 episode 1/2 collected=1/2 +[05/24 17:23:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 700 episode 1 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_7 completed with success=True +[05/24 17:23:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_700: 2 episodes +[05/24 17:23:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 107 timesteps +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_700 +[05/24 17:23:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_700 in 4.04s (batch: 3.92s, save: 0.12s) +[05/24 17:23:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_700 +[05/24 17:23:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 700: 1/2 successful episodes +[05/24 17:23:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 701 (index 60/84) +[05/24 17:23:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 701 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:23:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_701_ceiling.xml +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=701, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 109 objects +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:23:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 701 episode 0/1 collected=0/2 +[05/24 17:23:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 701 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 17:24:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_701: 1 episodes +[05/24 17:24:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_701 +[05/24 17:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_701 in 1.91s (batch: 1.88s, save: 0.04s) +[05/24 17:24:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_701 +[05/24 17:24:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 701: 1/1 successful episodes +[05/24 17:24:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 722 (index 61/84) +[05/24 17:24:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:24:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_722_ceiling.xml +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=722, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl with rim' +[05/24 17:24:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 722 episode 0/1 collected=0/2 +[05/24 17:24:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 722 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 17:24:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_722: 1 episodes +[05/24 17:24:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:24:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_722 +[05/24 17:24:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_722 in 2.16s (batch: 2.11s, save: 0.04s) +[05/24 17:24:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_722 +[05/24 17:24:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 722: 1/1 successful episodes +[05/24 17:24:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 736 (index 62/84) +[05/24 17:24:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 736 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:24:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_736_ceiling.xml +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=736, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:24:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 736 episode 0/2 collected=0/2 +[05/24 17:24:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 736 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 17:25:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_736_ceiling.xml +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=736, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:25:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 736 episode 1/2 collected=1/2 +[05/24 17:25:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 736 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:26:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_736: 2 episodes +[05/24 17:26:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:26:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_736 +[05/24 17:26:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_736 in 4.36s (batch: 4.25s, save: 0.12s) +[05/24 17:26:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_736 +[05/24 17:26:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 736: 1/2 successful episodes +[05/24 17:26:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 744 (index 63/84) +[05/24 17:26:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:26:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_744_ceiling.xml +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=744, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 17:26:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 744 episode 0/1 collected=0/2 +[05/24 17:26:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 744 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:26:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_744: 1 episodes +[05/24 17:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_744 +[05/24 17:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_744 in 2.10s (batch: 2.06s, save: 0.04s) +[05/24 17:26:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_744 +[05/24 17:26:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 744: 1/1 successful episodes +[05/24 17:26:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 765 (index 64/84) +[05/24 17:26:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:26:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_765_ceiling.xml +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=765, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:26:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 765 episode 0/2 collected=0/2 +[05/24 17:26:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 765 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:26:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_765_ceiling.xml +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=765, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:26:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 765 episode 1/2 collected=1/2 +[05/24 17:26:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 765 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:27:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_765: 2 episodes +[05/24 17:27:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:27:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:27:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_765 +[05/24 17:27:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_765 in 3.85s (batch: 3.79s, save: 0.06s) +[05/24 17:27:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_765 +[05/24 17:27:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 765: 2/2 successful episodes +[05/24 17:27:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 766 (index 65/84) +[05/24 17:27:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:27:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_766_ceiling.xml +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=766, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:27:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 766 episode 0/1 collected=0/2 +[05/24 17:27:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 766 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 17:27:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_766: 1 episodes +[05/24 17:27:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:27:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_766 +[05/24 17:27:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_766 in 2.09s (batch: 2.06s, save: 0.03s) +[05/24 17:27:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_766 +[05/24 17:27:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 766: 1/1 successful episodes +[05/24 17:27:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 784 (index 66/84) +[05/24 17:27:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 784 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:27:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_784_ceiling.xml +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=784, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:27:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 784 episode 0/1 collected=0/2 +[05/24 17:27:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 784 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 17:27:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_784: 1 episodes +[05/24 17:27:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_784 +[05/24 17:27:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_784 in 1.96s (batch: 1.93s, save: 0.03s) +[05/24 17:27:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_784 +[05/24 17:27:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 784: 1/1 successful episodes +[05/24 17:27:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 799 (index 67/84) +[05/24 17:27:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 799 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:27:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_799_ceiling.xml +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=799, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:28:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 799 episode 0/2 collected=0/2 +[05/24 17:28:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 799 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_2 completed with success=True +[05/24 17:28:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_799_ceiling.xml +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=799, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:28:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 799 episode 1/2 collected=1/2 +[05/24 17:28:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 799 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:28:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_799: 2 episodes +[05/24 17:28:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:28:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:28:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_799 +[05/24 17:28:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_799 in 4.19s (batch: 4.14s, save: 0.05s) +[05/24 17:28:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_799 +[05/24 17:28:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 799: 2/2 successful episodes +[05/24 17:28:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 819 (index 68/84) +[05/24 17:28:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:28:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_819_ceiling.xml +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=819, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 5 objects +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:28:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 819 episode 0/1 collected=0/2 +[05/24 17:28:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 819 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=True +[05/24 17:28:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_819: 1 episodes +[05/24 17:28:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:29:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_819 +[05/24 17:29:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_819 in 2.11s (batch: 2.07s, save: 0.03s) +[05/24 17:29:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_819 +[05/24 17:29:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 819: 1/1 successful episodes +[05/24 17:29:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 830 (index 69/84) +[05/24 17:29:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 830 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:29:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_830_ceiling.xml +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=830, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:29:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 830 episode 0/2 collected=0/2 +[05/24 17:29:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 830 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_8 completed with success=False +[05/24 17:30:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_830_ceiling.xml +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=830, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 17:30:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 830 episode 1/2 collected=1/2 +[05/24 17:30:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 830 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_8 completed with success=False +[05/24 17:31:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_830: 2 episodes +[05/24 17:31:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:54 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_830 +[05/24 17:31:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_830 in 4.40s (batch: 4.20s, save: 0.20s) +[05/24 17:31:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_830 +[05/24 17:31:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 830: 0/2 successful episodes +[05/24 17:31:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 841 (index 70/84) +[05/24 17:31:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 841 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_841_ceiling.xml +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=841, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:31:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 841 episode 0/2 collected=0/2 +[05/24 17:31:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 841 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:32:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_841_ceiling.xml +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=841, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:32:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 841 episode 1/2 collected=1/2 +[05/24 17:32:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 841 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:33:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_841: 2 episodes +[05/24 17:33:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_841 +[05/24 17:33:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_841 in 4.53s (batch: 4.41s, save: 0.12s) +[05/24 17:33:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_841 +[05/24 17:33:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 841: 1/2 successful episodes +[05/24 17:33:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 845 (index 71/84) +[05/24 17:33:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 845 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:33:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_845_ceiling.xml +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=845, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:33:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 845 episode 0/1 collected=0/2 +[05/24 17:33:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 845 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:34:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_845: 1 episodes +[05/24 17:34:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:34:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_845 +[05/24 17:34:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_845 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 17:34:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_845 +[05/24 17:34:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 845: 0/1 successful episodes +[05/24 17:34:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 865 (index 72/84) +[05/24 17:34:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 865 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:34:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_865_ceiling.xml +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=865, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife metal' +[05/24 17:34:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 865 episode 0/2 collected=0/2 +[05/24 17:34:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 865 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_2_0_6 completed with success=True +[05/24 17:35:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_865_ceiling.xml +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=865, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:35:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 865 episode 1/2 collected=1/2 +[05/24 17:35:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 865 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 17:36:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_865: 2 episodes +[05/24 17:36:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 100 timesteps +[05/24 17:36:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_865 +[05/24 17:36:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_865 in 4.20s (batch: 4.08s, save: 0.11s) +[05/24 17:36:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_865 +[05/24 17:36:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 865: 1/2 successful episodes +[05/24 17:36:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 883 (index 73/84) +[05/24 17:36:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:36:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_883_ceiling.xml +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=883, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 17:36:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 883 episode 0/2 collected=0/2 +[05/24 17:36:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 883 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=False +[05/24 17:37:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_883_ceiling.xml +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=883, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black matte cooking pot with handles' +[05/24 17:38:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 883 episode 1/2 collected=1/2 +[05/24 17:38:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 883 episode 1 object pot_327edb884d62930ab5c6e8fce062daba_1_0_6 completed with success=True +[05/24 17:39:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_883: 2 episodes +[05/24 17:39:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 336 timesteps +[05/24 17:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_883 +[05/24 17:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_883 in 4.60s (batch: 4.44s, save: 0.16s) +[05/24 17:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_883 +[05/24 17:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 883: 1/2 successful episodes +[05/24 17:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 886 (index 74/84) +[05/24 17:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_886_ceiling.xml +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=886, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with rim' +[05/24 17:39:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 886 episode 0/1 collected=0/2 +[05/24 17:39:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 886 episode 0 object cup_4697b73732349085e30935e0f35566dc_1_0_6 completed with success=False +[05/24 17:40:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_886: 1 episodes +[05/24 17:40:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_886 +[05/24 17:40:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_886 in 2.34s (batch: 2.25s, save: 0.09s) +[05/24 17:40:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_886 +[05/24 17:40:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 886: 0/1 successful episodes +[05/24 17:40:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 896 (index 75/84) +[05/24 17:40:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:40:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_896_ceiling.xml +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=896, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:40:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 896 episode 0/2 collected=0/2 +[05/24 17:40:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 896 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 17:40:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_896_ceiling.xml +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=896, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:41:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 896 episode 1/2 collected=1/2 +[05/24 17:41:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 896 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_3_0_6 completed with success=False +[05/24 17:42:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_896: 2 episodes +[05/24 17:42:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:42:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_896 +[05/24 17:42:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_896 in 4.52s (batch: 4.39s, save: 0.12s) +[05/24 17:42:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_896 +[05/24 17:42:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 896: 1/2 successful episodes +[05/24 17:42:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 915 (index 76/84) +[05/24 17:42:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:42:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_915_ceiling.xml +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=915, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 17:42:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 915 episode 0/2 collected=0/2 +[05/24 17:42:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 915 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=True +[05/24 17:42:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_915_ceiling.xml +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=915, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy smooth red apple' +[05/24 17:43:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 915 episode 1/2 collected=1/2 +[05/24 17:43:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 915 episode 1 object apple_351743009add5172747a3534de5d2e2f_1_0_6 completed with success=True +[05/24 17:43:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_915: 2 episodes +[05/24 17:43:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:43:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:43:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_915 +[05/24 17:43:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_915 in 4.28s (batch: 4.23s, save: 0.05s) +[05/24 17:43:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_915 +[05/24 17:43:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 915: 2/2 successful episodes +[05/24 17:43:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 918 (index 77/84) +[05/24 17:43:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:43:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_918_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=918, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 125 objects +[05/24 17:43:31 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 918 episode 0/1 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 918 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_3 completed with success=True +[05/24 17:43:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_918: 1 episodes +[05/24 17:43:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:43:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_918 +[05/24 17:43:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_918 in 2.15s (batch: 2.09s, save: 0.06s) +[05/24 17:43:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_918 +[05/24 17:43:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 918: 1/1 successful episodes +[05/24 17:43:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 939 (index 78/84) +[05/24 17:43:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:43:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_939_ceiling.xml +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=939, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 17:44:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 939 episode 0/2 collected=0/2 +[05/24 17:44:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 939 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 17:45:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_939_ceiling.xml +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=939, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 17:45:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 939 episode 1/2 collected=1/2 +[05/24 17:45:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 939 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=False +[05/24 17:46:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_939: 2 episodes +[05/24 17:46:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:47:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:47:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_939 +[05/24 17:47:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_939 in 4.50s (batch: 4.30s, save: 0.20s) +[05/24 17:47:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_939 +[05/24 17:47:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 939: 0/2 successful episodes +[05/24 17:47:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 940 (index 79/84) +[05/24 17:47:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 940 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:47:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_940_ceiling.xml +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=940, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the container' +[05/24 17:47:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 940 episode 0/1 collected=0/2 +[05/24 17:47:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 940 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=True +[05/24 17:47:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_940: 1 episodes +[05/24 17:47:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:47:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_940 +[05/24 17:47:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_940 in 1.88s (batch: 1.85s, save: 0.03s) +[05/24 17:47:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_940 +[05/24 17:47:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 940: 1/1 successful episodes +[05/24 17:47:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 954 (index 80/84) +[05/24 17:47:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:47:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_954_ceiling.xml +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=954, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:47:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 954 episode 0/1 collected=0/2 +[05/24 17:47:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 954 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=False +[05/24 17:49:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_954: 1 episodes +[05/24 17:49:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_954 +[05/24 17:49:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_954 in 2.10s (batch: 2.01s, save: 0.09s) +[05/24 17:49:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_954 +[05/24 17:49:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 954: 0/1 successful episodes +[05/24 17:49:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 962 (index 81/84) +[05/24 17:49:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 962 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:49:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_962_ceiling.xml +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=962, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:49:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 962 episode 0/2 collected=0/2 +[05/24 17:49:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 962 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:49:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_962_ceiling.xml +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=962, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:49:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 962 episode 1/2 collected=1/2 +[05/24 17:49:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 962 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:49:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_962: 2 episodes +[05/24 17:49:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:49:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 17:49:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_962 +[05/24 17:49:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_962 in 3.82s (batch: 3.77s, save: 0.05s) +[05/24 17:49:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_962 +[05/24 17:49:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 962: 2/2 successful episodes +[05/24 17:49:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 978 (index 82/84) +[05/24 17:49:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:49:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_978_ceiling.xml +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=978, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent plastic cup' +[05/24 17:49:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 978 episode 0/2 collected=0/2 +[05/24 17:49:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 978 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:51:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_978_ceiling.xml +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=978, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:51:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 978 episode 1/2 collected=1/2 +[05/24 17:51:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 978 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:51:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_978: 2 episodes +[05/24 17:51:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_978 +[05/24 17:51:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_978 in 4.50s (batch: 4.39s, save: 0.11s) +[05/24 17:51:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_978 +[05/24 17:51:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 978: 1/2 successful episodes +[05/24 17:51:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 989 (index 83/84) +[05/24 17:51:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 989 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:51:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_989_ceiling.xml +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=989, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 99 objects +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:51:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 989 episode 0/1 collected=0/2 +[05/24 17:51:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 989 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 17:52:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_989: 1 episodes +[05/24 17:52:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:52:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_989 +[05/24 17:52:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_989 in 2.01s (batch: 1.98s, save: 0.03s) +[05/24 17:52:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_989 +[05/24 17:52:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 989: 1/1 successful episodes +[05/24 17:52:12 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:52:13 INFO pipeline.py:1496] Completed 84 houses, skipped 0 houses +[05/24 17:52:13 INFO pipeline.py:1499] Success count: 73, Total count: 125 +[05/24 17:52:13 INFO pipeline.py:1500] Success rate: 58.40% +Combined 125 episodes from 84 files → /tmp/tmpljhtnp50.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/results.csv at-end: 58.4% | oracle: 58.4% of 125 episodes +[2026-05-24 17:52:20,748] INFO MolmoSpaces simulator eval finished: success=73/125 rate=0.5840 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval +[2026-05-24 17:52:20,749] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_07.launcher.log b/pick_msproc/pick_msproc/shards/shard_07.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..3ed36354a075cfddcc1250cf1a871d8d9d676984 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07.launcher.log @@ -0,0 +1,3007 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,437] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,516] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,549] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 (source=arg) +[2026-05-24 15:59:56,841] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,288] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,671] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,671] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,059] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,118] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,155] INFO JsonEvalRunner initialized: 84 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 84 houses with 2 episodes each (168 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [1, + 15, + 21, + 32, + 45, + 68, + 71, + 87, + 90, + 102, + 112, + 128, + 138, + 155, + 159, + 182, + 192, + 196, + 215, + 227, + 243, + 248, + 258, + 278, + 286, + 306, + 314, + 329, + 330, + 351, + 354, + 369, + 375, + 391, + 404, + 417, + 424, + 441, + 445, + 472, + 478, + 494, + 508, + 511, + 527, + 537, + 550, + 553, + 572, + 575, + 589, + 595, + 614, + 626, + 640, + 642, + 665, + 669, + 688, + 702, + 704, + 724, + 738, + 749, + 767, + 772, + 788, + 804, + 820, + 831, + 844, + 849, + 867, + 885, + 890, + 898, + 916, + 923, + 941, + 942, + 955, + 963, + 982, + 994], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,162] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1 (index 0/84) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:46,650:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:46,650] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_1_ceiling.xml +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=1, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:04:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 1 episode 0/1 collected=0/2 +[05/24 16:04:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:48.527 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:49,549] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:49,893] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:04:50,598] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:04:59,201] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:04:59,210] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:05:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 16:05:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1: 1 episodes +[05/24 16:05:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:05:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:05:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1 +[05/24 16:05:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1 in 2.14s (batch: 2.08s, save: 0.06s) +[05/24 16:05:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1 +[05/24 16:05:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1: 1/1 successful episodes +[05/24 16:05:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 15 (index 1/84) +[05/24 16:05:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 15 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:05:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:05:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_15_ceiling.xml +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=15, scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:05:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:05:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:05:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 15 episode 0/1 collected=0/2 +[05/24 16:05:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:05:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 15 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:07:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_15: 1 episodes +[05/24 16:07:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 267 timesteps +[05/24 16:07:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_15 in 1.92s (batch: 1.85s, save: 0.07s) +[05/24 16:07:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 15: 1/1 successful episodes +[05/24 16:07:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 21 (index 2/84) +[05/24 16:07:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 21 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:07:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 0/2 collected=0/2 +[05/24 16:07:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:07:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 1/2 collected=1/2 +[05/24 16:07:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 16:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_21: 2 episodes +[05/24 16:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:07:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_21 +[05/24 16:07:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_21 in 4.08s (batch: 4.02s, save: 0.05s) +[05/24 16:07:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_21 +[05/24 16:07:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 21: 2/2 successful episodes +[05/24 16:07:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 32 (index 3/84) +[05/24 16:07:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 32 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:07:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 0/2 collected=0/2 +[05/24 16:07:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:09:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:09:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 1/2 collected=1/2 +[05/24 16:09:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:10:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_32: 2 episodes +[05/24 16:10:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:11:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_32 in 4.92s (batch: 4.74s, save: 0.18s) +[05/24 16:11:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 32: 0/2 successful episodes +[05/24 16:11:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 45 (index 4/84) +[05/24 16:11:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 45 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_45_ceiling.xml +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=45, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 16:11:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 45 episode 0/1 collected=0/2 +[05/24 16:11:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 45 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True +[05/24 16:11:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_45: 1 episodes +[05/24 16:11:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 16:11:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_45 +[05/24 16:11:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_45 in 1.82s (batch: 1.79s, save: 0.03s) +[05/24 16:11:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_45 +[05/24 16:11:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 45: 1/1 successful episodes +[05/24 16:11:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 68 (index 5/84) +[05/24 16:11:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 68 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_68_ceiling.xml +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=68, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:11:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 68 episode 0/1 collected=0/2 +[05/24 16:11:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 68 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:11:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_68: 1 episodes +[05/24 16:11:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:11:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_68 +[05/24 16:11:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_68 in 2.24s (batch: 2.21s, save: 0.03s) +[05/24 16:11:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_68 +[05/24 16:11:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 68: 1/1 successful episodes +[05/24 16:11:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 71 (index 6/84) +[05/24 16:11:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 71 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:11:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 0/2 collected=0/2 +[05/24 16:11:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:12:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium ripe red tomato with stem' +[05/24 16:12:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 1/2 collected=1/2 +[05/24 16:12:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 1 object tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_2 completed with success=False +[05/24 16:13:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_71: 2 episodes +[05/24 16:13:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71 +[05/24 16:13:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_71 in 4.01s (batch: 3.90s, save: 0.12s) +[05/24 16:13:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_71 +[05/24 16:13:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 71: 1/2 successful episodes +[05/24 16:13:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 87 (index 7/84) +[05/24 16:13:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 87 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:13:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:13:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 0/2 collected=0/2 +[05/24 16:13:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=False +[05/24 16:15:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:15:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 1/2 collected=1/2 +[05/24 16:15:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 16:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_87: 2 episodes +[05/24 16:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_87 in 4.25s (batch: 4.09s, save: 0.16s) +[05/24 16:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 87: 0/2 successful episodes +[05/24 16:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 90 (index 8/84) +[05/24 16:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 90 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_90_ceiling.xml +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=90, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:16:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 90 episode 0/1 collected=0/2 +[05/24 16:16:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 90 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:18:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_90: 1 episodes +[05/24 16:18:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_90 in 2.50s (batch: 2.42s, save: 0.09s) +[05/24 16:18:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 90: 0/1 successful episodes +[05/24 16:18:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 102 (index 9/84) +[05/24 16:18:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:18:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 0/2 collected=0/2 +[05/24 16:18:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:18:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:18:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 1/2 collected=1/2 +[05/24 16:18:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:18:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_102: 2 episodes +[05/24 16:18:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:18:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102 +[05/24 16:18:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_102 in 3.58s (batch: 3.53s, save: 0.05s) +[05/24 16:18:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_102 +[05/24 16:18:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 102: 2/2 successful episodes +[05/24 16:18:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 112 (index 10/84) +[05/24 16:18:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with rim' +[05/24 16:18:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 0/2 collected=0/2 +[05/24 16:18:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 0 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 16:19:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:19:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 1/2 collected=1/2 +[05/24 16:19:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 16:20:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_112: 2 episodes +[05/24 16:20:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 102 timesteps +[05/24 16:20:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_112 in 3.91s (batch: 3.80s, save: 0.11s) +[05/24 16:20:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 112: 1/2 successful episodes +[05/24 16:20:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 128 (index 11/84) +[05/24 16:20:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:20:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:20:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 0/2 collected=0/2 +[05/24 16:20:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 16:20:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:20:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 1/2 collected=1/2 +[05/24 16:20:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:21:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_128: 2 episodes +[05/24 16:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:21:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128 +[05/24 16:21:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_128 in 3.71s (batch: 3.64s, save: 0.07s) +[05/24 16:21:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_128 +[05/24 16:21:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 128: 2/2 successful episodes +[05/24 16:21:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 138 (index 12/84) +[05/24 16:21:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 138 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_138_ceiling.xml +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=138, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray bottle' +[05/24 16:21:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 138 episode 0/1 collected=0/2 +[05/24 16:21:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 138 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:21:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_138: 1 episodes +[05/24 16:21:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:21:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_138 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:21:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 138: 1/1 successful episodes +[05/24 16:21:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 155 (index 13/84) +[05/24 16:21:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:21:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 0/2 collected=0/2 +[05/24 16:21:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 16:21:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 1/2 collected=1/2 +[05/24 16:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:21:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_155: 2 episodes +[05/24 16:21:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 16:21:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_155 in 3.59s (batch: 3.54s, save: 0.05s) +[05/24 16:21:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 155: 2/2 successful episodes +[05/24 16:21:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 159 (index 14/84) +[05/24 16:21:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_159_ceiling.xml +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=159, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:22:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 159 episode 0/1 collected=0/2 +[05/24 16:22:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 159 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_159: 1 episodes +[05/24 16:23:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_159 +[05/24 16:23:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_159 in 2.59s (batch: 2.49s, save: 0.10s) +[05/24 16:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_159 +[05/24 16:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 159: 0/1 successful episodes +[05/24 16:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 182 (index 15/84) +[05/24 16:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_182_ceiling.xml +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=182, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 99 objects +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:23:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 182 episode 0/1 collected=0/2 +[05/24 16:23:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 182 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:25:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_182: 1 episodes +[05/24 16:25:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_182 in 2.08s (batch: 1.98s, save: 0.10s) +[05/24 16:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 182: 0/1 successful episodes +[05/24 16:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 192 (index 16/84) +[05/24 16:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:25:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 0/2 collected=0/2 +[05/24 16:25:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:25:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:25:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 1/2 collected=1/2 +[05/24 16:25:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:27:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_192: 2 episodes +[05/24 16:27:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:27:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192 +[05/24 16:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_192 in 4.03s (batch: 3.91s, save: 0.12s) +[05/24 16:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_192 +[05/24 16:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 192: 1/2 successful episodes +[05/24 16:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 196 (index 17/84) +[05/24 16:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_196_ceiling.xml +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=196, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 16:27:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 196 episode 0/1 collected=0/2 +[05/24 16:27:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 196 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 16:27:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_196: 1 episodes +[05/24 16:27:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 16:27:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_196 in 2.23s (batch: 2.17s, save: 0.05s) +[05/24 16:27:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 196: 1/1 successful episodes +[05/24 16:27:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 215 (index 18/84) +[05/24 16:27:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_215_ceiling.xml +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=215, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:27:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 215 episode 0/1 collected=0/2 +[05/24 16:27:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 215 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_215: 1 episodes +[05/24 16:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_215 in 2.75s (batch: 2.65s, save: 0.10s) +[05/24 16:28:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 215: 0/1 successful episodes +[05/24 16:28:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 227 (index 19/84) +[05/24 16:28:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:28:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:28:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 0/2 collected=0/2 +[05/24 16:28:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:29:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:29:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 1/2 collected=1/2 +[05/24 16:29:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:29:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_227: 2 episodes +[05/24 16:29:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:29:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_227 in 4.54s (batch: 4.49s, save: 0.06s) +[05/24 16:29:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 227: 2/2 successful episodes +[05/24 16:29:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 243 (index 20/84) +[05/24 16:29:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 243 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:29:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_243_ceiling.xml +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=243, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:29:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 243 episode 0/1 collected=0/2 +[05/24 16:29:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 243 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:30:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_243: 1 episodes +[05/24 16:30:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_243 in 2.06s (batch: 1.98s, save: 0.08s) +[05/24 16:30:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 243: 0/1 successful episodes +[05/24 16:30:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 248 (index 21/84) +[05/24 16:30:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:30:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:30:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 0/2 collected=0/2 +[05/24 16:30:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 16:31:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:31:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 1/2 collected=1/2 +[05/24 16:31:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_248: 2 episodes +[05/24 16:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_248 in 4.53s (batch: 4.47s, save: 0.06s) +[05/24 16:31:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 248: 2/2 successful episodes +[05/24 16:31:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 258 (index 22/84) +[05/24 16:31:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_258_ceiling.xml +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=258, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:31:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 258 episode 0/1 collected=0/2 +[05/24 16:31:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 258 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 16:31:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_258: 1 episodes +[05/24 16:31:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:31:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_258 +[05/24 16:31:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_258 in 1.88s (batch: 1.85s, save: 0.03s) +[05/24 16:31:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_258 +[05/24 16:31:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 258: 1/1 successful episodes +[05/24 16:31:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 278 (index 23/84) +[05/24 16:31:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 16:31:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 0/2 collected=0/2 +[05/24 16:31:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_7 completed with success=True +[05/24 16:32:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:32:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 1/2 collected=1/2 +[05/24 16:32:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_278: 2 episodes +[05/24 16:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 232 timesteps +[05/24 16:33:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_278 in 4.69s (batch: 4.60s, save: 0.09s) +[05/24 16:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 278: 2/2 successful episodes +[05/24 16:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 286 (index 24/84) +[05/24 16:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_286_ceiling.xml +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=286, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:33:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 286 episode 0/1 collected=0/2 +[05/24 16:33:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 286 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:33:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_286: 1 episodes +[05/24 16:33:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 16:33:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_286 +[05/24 16:33:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_286 in 1.86s (batch: 1.83s, save: 0.03s) +[05/24 16:33:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_286 +[05/24 16:33:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 286: 1/1 successful episodes +[05/24 16:33:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 306 (index 25/84) +[05/24 16:33:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 0/2 collected=0/2 +[05/24 16:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_5 completed with success=False +[05/24 16:34:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife blade' +[05/24 16:35:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 1/2 collected=1/2 +[05/24 16:35:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[2026-05-24 16:36:08,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/24 16:36:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 1 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_8 completed with success=False +[05/24 16:38:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_306: 2 episodes +[05/24 16:38:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306 +[05/24 16:38:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_306 in 5.18s (batch: 5.00s, save: 0.18s) +[05/24 16:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_306 +[05/24 16:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 306: 0/2 successful episodes +[05/24 16:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 314 (index 26/84) +[05/24 16:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_314_ceiling.xml +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=314, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 16:38:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 314 episode 0/1 collected=0/2 +[05/24 16:38:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 314 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 16:39:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_314: 1 episodes +[05/24 16:39:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_314 +[05/24 16:39:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_314 in 2.07s (batch: 1.99s, save: 0.08s) +[05/24 16:39:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_314 +[05/24 16:39:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 314: 0/1 successful episodes +[05/24 16:39:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 329 (index 27/84) +[05/24 16:39:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:39:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_329_ceiling.xml +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=329, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:39:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 329 episode 0/1 collected=0/2 +[05/24 16:39:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 329 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 completed with success=True +[05/24 16:40:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_329: 1 episodes +[05/24 16:40:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 158 timesteps +[05/24 16:40:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_329 in 1.90s (batch: 1.86s, save: 0.05s) +[05/24 16:40:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 329: 1/1 successful episodes +[05/24 16:40:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 330 (index 28/84) +[05/24 16:40:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 330 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:40:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box' +[05/24 16:40:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 0/2 collected=0/2 +[05/24 16:40:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 16:40:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:40:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 1/2 collected=1/2 +[05/24 16:40:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:42:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_330: 2 episodes +[05/24 16:42:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:42:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330 +[05/24 16:42:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_330 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:42:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_330 +[05/24 16:42:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 330: 1/2 successful episodes +[05/24 16:42:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 351 (index 29/84) +[05/24 16:42:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:42:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_351_ceiling.xml +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=351, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 16:42:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 16:42:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 351 episode 0/1 collected=0/2 +[05/24 16:42:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 351 episode 0 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 16:44:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_351: 1 episodes +[05/24 16:44:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_351 +[05/24 16:44:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_351 in 2.49s (batch: 2.39s, save: 0.09s) +[05/24 16:44:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_351 +[05/24 16:44:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 351: 0/1 successful episodes +[05/24 16:44:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 354 (index 30/84) +[05/24 16:44:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 354 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:44:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:44:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 0/2 collected=0/2 +[05/24 16:44:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:44:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 1/2 collected=1/2 +[05/24 16:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_354: 2 episodes +[05/24 16:46:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_354 in 4.90s (batch: 4.78s, save: 0.12s) +[05/24 16:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 354: 1/2 successful episodes +[05/24 16:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 369 (index 31/84) +[05/24 16:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 369 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_369_ceiling.xml +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=369, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:46:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 369 episode 0/1 collected=0/2 +[05/24 16:46:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 369 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:46:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_369: 1 episodes +[05/24 16:46:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:46:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_369 +[05/24 16:46:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_369 in 2.29s (batch: 2.26s, save: 0.03s) +[05/24 16:46:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_369 +[05/24 16:46:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 369: 1/1 successful episodes +[05/24 16:46:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 375 (index 32/84) +[05/24 16:46:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the peppershaker' +[05/24 16:46:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 0/2 collected=0/2 +[05/24 16:46:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 16:46:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:46:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 1/2 collected=1/2 +[05/24 16:46:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 16:47:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_375: 2 episodes +[05/24 16:47:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:48:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_375 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 16:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 375: 1/2 successful episodes +[05/24 16:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 391 (index 33/84) +[05/24 16:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:48:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 0/2 collected=0/2 +[05/24 16:48:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=True +[05/24 16:48:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:48:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 1/2 collected=1/2 +[05/24 16:48:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:50:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_391: 2 episodes +[05/24 16:50:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_391 in 3.88s (batch: 3.77s, save: 0.11s) +[05/24 16:50:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 391: 1/2 successful episodes +[05/24 16:50:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 404 (index 34/84) +[05/24 16:50:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:50:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_404_ceiling.xml +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=404, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:50:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 404 episode 0/1 collected=0/2 +[05/24 16:50:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 404 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_6 completed with success=False +[05/24 16:51:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_404: 1 episodes +[05/24 16:51:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_404 +[05/24 16:51:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_404 in 2.02s (batch: 1.93s, save: 0.08s) +[05/24 16:52:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_404 +[05/24 16:52:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 404: 0/1 successful episodes +[05/24 16:52:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 417 (index 35/84) +[05/24 16:52:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:52:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:52:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 0/2 collected=0/2 +[05/24 16:52:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent glass bowl' +[05/24 16:52:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 1/2 collected=1/2 +[05/24 16:52:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 16:53:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_417: 2 episodes +[05/24 16:53:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:53:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417 +[05/24 16:53:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_417 in 4.00s (batch: 3.89s, save: 0.11s) +[05/24 16:53:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_417 +[05/24 16:53:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 417: 1/2 successful episodes +[05/24 16:53:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 424 (index 36/84) +[05/24 16:53:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:53:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_424_ceiling.xml +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=424, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:53:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 424 episode 0/1 collected=0/2 +[05/24 16:53:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 424 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=False +[05/24 16:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_424: 1 episodes +[05/24 16:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_424 in 2.57s (batch: 2.44s, save: 0.12s) +[05/24 16:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 424: 0/1 successful episodes +[05/24 16:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 441 (index 37/84) +[05/24 16:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_441_ceiling.xml +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=441, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 16:55:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 441 episode 0/1 collected=0/2 +[05/24 16:55:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 441 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6 completed with success=True +[05/24 16:55:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_441: 1 episodes +[05/24 16:55:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/24 16:55:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_441 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 16:55:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 441: 1/1 successful episodes +[05/24 16:55:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 445 (index 38/84) +[05/24 16:55:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:55:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 0/2 collected=0/2 +[05/24 16:55:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 16:56:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:56:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 1/2 collected=1/2 +[05/24 16:56:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:57:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_445: 2 episodes +[05/24 16:57:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 126 timesteps +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_445 in 4.74s (batch: 4.62s, save: 0.12s) +[05/24 16:57:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 445: 1/2 successful episodes +[05/24 16:57:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 472 (index 39/84) +[05/24 16:57:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:57:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 0/2 collected=0/2 +[05/24 16:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 16:58:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 16:58:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 1/2 collected=1/2 +[05/24 16:58:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 16:59:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_472: 2 episodes +[05/24 16:59:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_472 in 5.01s (batch: 4.83s, save: 0.17s) +[05/24 17:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 472: 0/2 successful episodes +[05/24 17:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 478 (index 40/84) +[05/24 17:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_478_ceiling.xml +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=478, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:00:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 478 episode 0/1 collected=0/2 +[05/24 17:00:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 478 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3 completed with success=False +[05/24 17:01:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_478: 1 episodes +[05/24 17:01:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_478 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:01:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 478: 0/1 successful episodes +[05/24 17:01:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 494 (index 41/84) +[05/24 17:01:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_494_ceiling.xml +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=494, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:01:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 494 episode 0/1 collected=0/2 +[05/24 17:01:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 494 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 17:01:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_494: 1 episodes +[05/24 17:01:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_494 +[05/24 17:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_494 in 2.26s (batch: 2.23s, save: 0.03s) +[05/24 17:01:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_494 +[05/24 17:01:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 494: 1/1 successful episodes +[05/24 17:01:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 508 (index 42/84) +[05/24 17:01:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:01:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 0/2 collected=0/2 +[05/24 17:01:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:02:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:02:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 1/2 collected=1/2 +[05/24 17:02:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=False +[05/24 17:03:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_508: 2 episodes +[05/24 17:03:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:03:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_508 in 3.90s (batch: 3.79s, save: 0.12s) +[05/24 17:03:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 508: 1/2 successful episodes +[05/24 17:03:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 511 (index 43/84) +[05/24 17:03:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:03:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_511_ceiling.xml +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=511, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:03:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 511 episode 0/1 collected=0/2 +[05/24 17:03:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 511 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=False +[05/24 17:05:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_511: 1 episodes +[05/24 17:05:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_511 in 2.04s (batch: 1.96s, save: 0.09s) +[05/24 17:05:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 511: 0/1 successful episodes +[05/24 17:05:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 527 (index 44/84) +[05/24 17:05:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:05:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_527_ceiling.xml +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=527, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:05:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 527 episode 0/1 collected=0/2 +[05/24 17:05:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 527 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:06:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_527: 1 episodes +[05/24 17:06:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_527 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 527: 0/1 successful episodes +[05/24 17:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 537 (index 45/84) +[05/24 17:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the container' +[05/24 17:06:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 0/2 collected=0/2 +[05/24 17:06:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:08:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 17:08:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 1/2 collected=1/2 +[05/24 17:08:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:08:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_537: 2 episodes +[05/24 17:08:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_537 in 3.78s (batch: 3.67s, save: 0.10s) +[05/24 17:08:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 537: 1/2 successful episodes +[05/24 17:08:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 550 (index 46/84) +[05/24 17:08:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:08:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:08:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 0/2 collected=0/2 +[05/24 17:08:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True +[05/24 17:08:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:49 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box' +[05/24 17:08:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 1/2 collected=1/2 +[05/24 17:08:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 1 object box_54d3d4baf11286a2a524395e4a26c893_1_0_6 completed with success=True +[05/24 17:09:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_550: 2 episodes +[05/24 17:09:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_550 in 4.85s (batch: 4.79s, save: 0.06s) +[05/24 17:09:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 550: 2/2 successful episodes +[05/24 17:09:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 553 (index 47/84) +[05/24 17:09:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_553_ceiling.xml +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=553, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray wooden bowl' +[05/24 17:09:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 553 episode 0/1 collected=0/2 +[05/24 17:09:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 553 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 17:09:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_553: 1 episodes +[05/24 17:09:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:09:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_553 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 17:09:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 553: 1/1 successful episodes +[05/24 17:09:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 572 (index 48/84) +[05/24 17:09:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_572_ceiling.xml +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=572, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 17:09:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 572 episode 0/1 collected=0/2 +[05/24 17:09:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 572 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 17:10:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_572: 1 episodes +[05/24 17:10:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_572 +[05/24 17:10:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_572 in 2.11s (batch: 2.02s, save: 0.09s) +[05/24 17:10:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_572 +[05/24 17:10:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 572: 0/1 successful episodes +[05/24 17:10:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 575 (index 49/84) +[05/24 17:10:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:10:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 17:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 0/2 collected=0/2 +[05/24 17:10:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:11:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:11:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 1/2 collected=1/2 +[05/24 17:11:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:12:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_575: 2 episodes +[05/24 17:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:12:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575 +[05/24 17:12:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_575 in 4.81s (batch: 4.69s, save: 0.12s) +[05/24 17:12:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_575 +[05/24 17:12:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 575: 1/2 successful episodes +[05/24 17:12:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 589 (index 50/84) +[05/24 17:12:47 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 589 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:12:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:12:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 0/2 collected=0/2 +[05/24 17:12:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:13:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 1/2 collected=1/2 +[05/24 17:13:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=True +[05/24 17:14:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_589: 2 episodes +[05/24 17:14:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589 +[05/24 17:14:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_589 in 4.79s (batch: 4.67s, save: 0.12s) +[05/24 17:14:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_589 +[05/24 17:14:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 589: 1/2 successful episodes +[05/24 17:14:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 595 (index 51/84) +[05/24 17:14:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_595_ceiling.xml +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=595, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:14:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 595 episode 0/1 collected=0/2 +[05/24 17:14:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 595 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:14:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_595: 1 episodes +[05/24 17:14:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:14:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_595 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 17:14:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 595: 1/1 successful episodes +[05/24 17:14:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 614 (index 52/84) +[05/24 17:14:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_614_ceiling.xml +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=614, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means' +[05/24 17:14:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 614 episode 0/1 collected=0/2 +[05/24 17:14:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 614 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:15:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_614: 1 episodes +[05/24 17:15:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 360 timesteps +[05/24 17:15:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_614 +[05/24 17:15:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_614 in 2.02s (batch: 1.94s, save: 0.08s) +[05/24 17:15:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_614 +[05/24 17:15:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 614: 1/1 successful episodes +[05/24 17:15:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 626 (index 53/84) +[05/24 17:15:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:15:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte blue bowl' +[05/24 17:15:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 0/2 collected=0/2 +[05/24 17:15:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_5 completed with success=True +[05/24 17:15:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 17:16:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 1/2 collected=1/2 +[05/24 17:16:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_2 completed with success=True +[05/24 17:16:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_626: 2 episodes +[05/24 17:16:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_626 in 3.61s (batch: 3.55s, save: 0.06s) +[05/24 17:16:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 626: 2/2 successful episodes +[05/24 17:16:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 640 (index 54/84) +[05/24 17:16:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:16:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:16:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 0/2 collected=0/2 +[05/24 17:16:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 17:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent plastic cup' +[05/24 17:17:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 1/2 collected=1/2 +[05/24 17:17:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:19:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_640: 2 episodes +[05/24 17:19:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_640 in 4.13s (batch: 3.93s, save: 0.19s) +[05/24 17:19:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 640: 0/2 successful episodes +[05/24 17:19:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 642 (index 55/84) +[05/24 17:19:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_642_ceiling.xml +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=642, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 17:19:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 642 episode 0/1 collected=0/2 +[05/24 17:19:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 642 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=True +[05/24 17:19:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_642: 1 episodes +[05/24 17:19:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:19:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_642 in 1.84s (batch: 1.81s, save: 0.03s) +[05/24 17:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 642: 1/1 successful episodes +[05/24 17:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 665 (index 56/84) +[05/24 17:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_665_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=665, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 665 episode 0/1 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 665 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=False +[05/24 17:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_665: 1 episodes +[05/24 17:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_665 +[05/24 17:20:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_665 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:20:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_665 +[05/24 17:20:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 665: 0/1 successful episodes +[05/24 17:20:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 669 (index 57/84) +[05/24 17:20:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 669 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:20:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:20:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 0/2 collected=0/2 +[05/24 17:20:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_8 completed with success=False +[05/24 17:22:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:22:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 1/2 collected=1/2 +[05/24 17:22:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:23:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_669: 2 episodes +[05/24 17:23:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669 +[05/24 17:23:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_669 in 4.12s (batch: 3.96s, save: 0.16s) +[05/24 17:23:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_669 +[05/24 17:23:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 669: 0/2 successful episodes +[05/24 17:23:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 688 (index 58/84) +[05/24 17:23:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:23:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_688_ceiling.xml +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=688, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:23:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 688 episode 0/1 collected=0/2 +[05/24 17:23:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 688 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_688: 1 episodes +[05/24 17:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_688 +[05/24 17:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_688 in 2.48s (batch: 2.37s, save: 0.11s) +[05/24 17:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_688 +[05/24 17:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 688: 0/1 successful episodes +[05/24 17:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 702 (index 59/84) +[05/24 17:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_702_ceiling.xml +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=702, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:25:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 702 episode 0/1 collected=0/2 +[05/24 17:25:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 702 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 17:26:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_702: 1 episodes +[05/24 17:26:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_702 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:26:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 702: 0/1 successful episodes +[05/24 17:26:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 704 (index 60/84) +[05/24 17:26:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:26:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:26:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 0/2 collected=0/2 +[05/24 17:26:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False +[05/24 17:28:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:28:14 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown cardboard box with flaps' +[05/24 17:28:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 1/2 collected=1/2 +[05/24 17:28:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_4 completed with success=False +[05/24 17:29:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_704: 2 episodes +[05/24 17:29:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_704 in 4.25s (batch: 4.07s, save: 0.18s) +[05/24 17:29:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 704: 0/2 successful episodes +[05/24 17:29:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 724 (index 61/84) +[05/24 17:29:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:29:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_724_ceiling.xml +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=724, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 87 objects +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl with rim' +[05/24 17:29:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 724 episode 0/1 collected=0/2 +[05/24 17:29:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 724 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_3 completed with success=True +[05/24 17:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_724: 1 episodes +[05/24 17:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 61 timesteps +[05/24 17:30:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_724 in 1.83s (batch: 1.80s, save: 0.03s) +[05/24 17:30:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 724: 1/1 successful episodes +[05/24 17:30:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 738 (index 62/84) +[05/24 17:30:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:30:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:30:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 0/2 collected=0/2 +[05/24 17:30:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_2_0_2 completed with success=False +[05/24 17:31:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:31:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 1/2 collected=1/2 +[05/24 17:31:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:33:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_738: 2 episodes +[05/24 17:33:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738 +[05/24 17:33:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_738 in 4.92s (batch: 4.75s, save: 0.17s) +[05/24 17:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_738 +[05/24 17:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 738: 0/2 successful episodes +[05/24 17:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 749 (index 63/84) +[05/24 17:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_749_ceiling.xml +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=749, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 17:33:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 749 episode 0/1 collected=0/2 +[05/24 17:33:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 749 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:33:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_749: 1 episodes +[05/24 17:33:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/24 17:33:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_749 in 2.23s (batch: 2.20s, save: 0.03s) +[05/24 17:33:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 749: 1/1 successful episodes +[05/24 17:33:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 767 (index 64/84) +[05/24 17:33:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_767_ceiling.xml +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=767, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 17:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 767 episode 0/1 collected=0/2 +[05/24 17:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 767 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:34:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_767: 1 episodes +[05/24 17:34:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 346 timesteps +[05/24 17:34:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_767 +[05/24 17:34:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_767 in 2.46s (batch: 2.39s, save: 0.08s) +[05/24 17:34:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_767 +[05/24 17:34:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 767: 1/1 successful episodes +[05/24 17:34:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 772 (index 65/84) +[05/24 17:34:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:34:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:34:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 0/2 collected=0/2 +[05/24 17:34:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:34:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:35:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 1/2 collected=1/2 +[05/24 17:35:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 17:35:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_772: 2 episodes +[05/24 17:35:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 17:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_772 in 4.52s (batch: 4.46s, save: 0.06s) +[05/24 17:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 772: 2/2 successful episodes +[05/24 17:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 788 (index 66/84) +[05/24 17:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:35:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_788_ceiling.xml +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=788, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:35:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 788 episode 0/1 collected=0/2 +[05/24 17:35:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 788 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 17:36:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_788: 1 episodes +[05/24 17:36:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_788 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 788: 0/1 successful episodes +[05/24 17:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 804 (index 67/84) +[05/24 17:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 804 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:36:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 0/2 collected=0/2 +[05/24 17:36:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 17:38:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 17:38:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 1/2 collected=1/2 +[05/24 17:38:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 1 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_6 completed with success=True +[05/24 17:38:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_804: 2 episodes +[05/24 17:38:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_804 in 3.84s (batch: 3.71s, save: 0.13s) +[05/24 17:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 804: 1/2 successful episodes +[05/24 17:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 820 (index 68/84) +[05/24 17:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 820 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_820_ceiling.xml +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=820, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:38:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 820 episode 0/1 collected=0/2 +[05/24 17:38:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 820 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 17:39:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_820: 1 episodes +[05/24 17:39:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_820 in 2.07s (batch: 1.98s, save: 0.10s) +[05/24 17:39:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 820: 0/1 successful episodes +[05/24 17:39:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 831 (index 69/84) +[05/24 17:39:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 831 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:39:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:39:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 0/2 collected=0/2 +[05/24 17:39:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:41:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:41:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 1/2 collected=1/2 +[05/24 17:41:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 17:41:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_831: 2 episodes +[05/24 17:41:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831 +[05/24 17:41:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_831 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 17:41:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_831 +[05/24 17:41:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 831: 1/2 successful episodes +[05/24 17:41:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 844 (index 70/84) +[05/24 17:41:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 844 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:41:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass pepper shaker' +[05/24 17:41:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 0/2 collected=0/2 +[05/24 17:41:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_8 completed with success=True +[05/24 17:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plastic cup' +[05/24 17:41:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 1/2 collected=1/2 +[05/24 17:41:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=False +[05/24 17:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_844: 2 episodes +[05/24 17:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:43:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844 +[05/24 17:43:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_844 in 4.78s (batch: 4.66s, save: 0.12s) +[05/24 17:43:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_844 +[05/24 17:43:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 844: 1/2 successful episodes +[05/24 17:43:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 849 (index 71/84) +[05/24 17:43:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 849 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_849_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=849, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 849 episode 0/1 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 849 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 17:43:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_849: 1 episodes +[05/24 17:43:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 17:43:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_849 in 2.31s (batch: 2.27s, save: 0.04s) +[05/24 17:43:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 849: 1/1 successful episodes +[05/24 17:43:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 867 (index 72/84) +[05/24 17:43:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:43:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 0/2 collected=0/2 +[05/24 17:44:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 17:44:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:44:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 1/2 collected=1/2 +[05/24 17:44:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=True +[05/24 17:44:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_867: 2 episodes +[05/24 17:44:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_867 in 3.57s (batch: 3.51s, save: 0.05s) +[05/24 17:44:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 867: 2/2 successful episodes +[05/24 17:44:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 885 (index 73/84) +[05/24 17:44:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:44:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 0/2 collected=0/2 +[05/24 17:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 17:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:44:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 1/2 collected=1/2 +[05/24 17:44:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_885: 2 episodes +[05/24 17:46:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885 +[05/24 17:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_885 in 4.94s (batch: 4.83s, save: 0.11s) +[05/24 17:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_885 +[05/24 17:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 885: 1/2 successful episodes +[05/24 17:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 890 (index 74/84) +[05/24 17:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_890_ceiling.xml +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=890, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 17:46:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 890 episode 0/1 collected=0/2 +[05/24 17:46:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 890 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7 completed with success=True +[05/24 17:46:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_890: 1 episodes +[05/24 17:46:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 116 timesteps +[05/24 17:46:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_890 in 1.83s (batch: 1.79s, save: 0.04s) +[05/24 17:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 890: 1/1 successful episodes +[05/24 17:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 898 (index 75/84) +[05/24 17:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 17:46:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 0/2 collected=0/2 +[05/24 17:46:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=False +[05/24 17:48:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 17:48:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 1/2 collected=1/2 +[05/24 17:48:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 17:49:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_898: 2 episodes +[05/24 17:49:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898 +[05/24 17:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_898 in 4.48s (batch: 4.29s, save: 0.19s) +[05/24 17:49:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_898 +[05/24 17:49:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 898: 0/2 successful episodes +[05/24 17:49:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 916 (index 76/84) +[05/24 17:49:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:49:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:49:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 0/2 collected=0/2 +[05/24 17:49:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:51:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:52:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 1/2 collected=1/2 +[05/24 17:52:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=True +[05/24 17:52:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_916: 2 episodes +[05/24 17:52:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916 +[05/24 17:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_916 in 4.84s (batch: 4.71s, save: 0.14s) +[05/24 17:52:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_916 +[05/24 17:52:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 916: 1/2 successful episodes +[05/24 17:52:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 923 (index 77/84) +[05/24 17:52:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_923_ceiling.xml +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=923, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 923 episode 0/1 collected=0/2 +[05/24 17:52:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 923 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:52:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_923: 1 episodes +[05/24 17:52:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:52:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_923 in 1.81s (batch: 1.78s, save: 0.03s) +[05/24 17:52:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 923: 1/1 successful episodes +[05/24 17:52:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 941 (index 78/84) +[05/24 17:52:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:52:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 0/2 collected=0/2 +[05/24 17:52:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2 completed with success=True +[05/24 17:53:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:53:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 1/2 collected=1/2 +[05/24 17:53:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 17:54:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_941: 2 episodes +[05/24 17:54:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:54:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941 +[05/24 17:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_941 in 4.73s (batch: 4.60s, save: 0.12s) +[05/24 17:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_941 +[05/24 17:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 941: 1/2 successful episodes +[05/24 17:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 942 (index 79/84) +[05/24 17:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_942_ceiling.xml +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=942, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:54:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 942 episode 0/1 collected=0/2 +[05/24 17:54:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 942 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:55:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_942: 1 episodes +[05/24 17:55:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_942 in 1.99s (batch: 1.90s, save: 0.09s) +[05/24 17:55:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 942: 0/1 successful episodes +[05/24 17:55:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 955 (index 80/84) +[05/24 17:55:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:55:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_955_ceiling.xml +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=955, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:55:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 955 episode 0/1 collected=0/2 +[05/24 17:55:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 955 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:56:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_955: 1 episodes +[05/24 17:56:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 262 timesteps +[05/24 17:56:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955 +[05/24 17:56:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_955 in 1.95s (batch: 1.89s, save: 0.06s) +[05/24 17:56:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_955 +[05/24 17:56:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 955: 1/1 successful episodes +[05/24 17:56:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 963 (index 81/84) +[05/24 17:56:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:56:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:56:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 0/2 collected=0/2 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10 completed with success=True +[05/24 17:57:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 17:57:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 1/2 collected=1/2 +[05/24 17:57:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 1 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=True +[05/24 17:57:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_963: 2 episodes +[05/24 17:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:57:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 38 timesteps +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_963 in 3.58s (batch: 3.52s, save: 0.05s) +[05/24 17:57:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 963: 2/2 successful episodes +[05/24 17:57:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 982 (index 82/84) +[05/24 17:57:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:57:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 17:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 0/2 collected=0/2 +[05/24 17:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_2 completed with success=True +[05/24 17:58:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:58:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 1/2 collected=1/2 +[05/24 17:58:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:59:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_982: 2 episodes +[05/24 17:59:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 271 timesteps +[05/24 17:59:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982 +[05/24 17:59:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_982 in 4.93s (batch: 4.79s, save: 0.14s) +[05/24 17:59:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_982 +[05/24 17:59:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 982: 1/2 successful episodes +[05/24 17:59:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 994 (index 83/84) +[05/24 17:59:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:59:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_994_ceiling.xml +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=994, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:59:30 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the carton' +[05/24 17:59:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 994 episode 0/1 collected=0/2 +[05/24 17:59:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 994 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_2 completed with success=True +[05/24 17:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_994: 1 episodes +[05/24 17:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 17:59:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994 +[05/24 17:59:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_994 in 2.22s (batch: 2.18s, save: 0.04s) +[05/24 17:59:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_994 +[05/24 17:59:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 994: 1/1 successful episodes +[05/24 17:59:47 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:59:47 INFO pipeline.py:1496] Completed 84 houses, skipped 0 houses +[05/24 17:59:47 INFO pipeline.py:1499] Success count: 68, Total count: 125 +[05/24 17:59:47 INFO pipeline.py:1500] Success rate: 54.40% +Combined 125 episodes from 84 files → /tmp/tmp9xmaylc0.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv at-end: 54.4% | oracle: 54.4% of 125 episodes +[2026-05-24 17:59:55,660] INFO MolmoSpaces simulator eval finished: success=68/125 rate=0.5440 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval +[2026-05-24 17:59:55,660] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/run_command.sh diff --git a/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/running_log.log b/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/running_log.log new file mode 100644 index 0000000000000000000000000000000000000000..b3196587b4010351c0ffe9d2975340571a96ece3 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/running_log.log @@ -0,0 +1,2928 @@ +05/24 16:04:45 INFO: WandB logging disabled (environment variables not set) [pipeline.py: 677] +05/24 16:04:45 INFO: Starting house-by-house rollout of 84 houses with 2 episodes each (168 total episodes) using 1 worker processes [pipeline.py: 1279] +05/24 16:04:45 INFO: Evaluation configuration: [pipeline.py: 1286] +05/24 16:04:45 INFO: {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [1, + 15, + 21, + 32, + 45, + 68, + 71, + 87, + 90, + 102, + 112, + 128, + 138, + 155, + 159, + 182, + 192, + 196, + 215, + 227, + 243, + 248, + 258, + 278, + 286, + 306, + 314, + 329, + 330, + 351, + 354, + 369, + 375, + 391, + 404, + 417, + 424, + 441, + 445, + 472, + 478, + 494, + 508, + 511, + 527, + 537, + 550, + 553, + 572, + 575, + 589, + 595, + 614, + 626, + 640, + 642, + 665, + 669, + 688, + 702, + 704, + 724, + 738, + 749, + 767, + 772, + 788, + 804, + 820, + 831, + 844, + 849, + 867, + 885, + 890, + 898, + 916, + 923, + 941, + 942, + 955, + 963, + 982, + 994], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} [pipeline.py: 1287] +05/24 16:04:45 INFO: [Worker 0] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler [pipeline.py: 439] +05/24 16:04:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:04:45 INFO: [Worker 0] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler [pipeline.py: 445] +05/24 16:04:45 INFO: [Worker 0] Worker 0 starting house 1 (index 0/84) [pipeline.py: 473] +05/24 16:04:45 INFO: [Worker 0] Loaded 1 episodes for house 1 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:04:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:04:45 INFO: [Worker 0] Loaded 4 assets from static blacklist [task_sampler.py: 113] +05/24 16:04:47 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_1_ceiling.xml [task_sampler.py: 797] +05/24 16:04:47 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=1, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:04:47 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:04:47 INFO: [Worker 0] randomize_scene: Setting poses for 20 objects [json_eval_task_sampler.py: 686] +05/24 16:04:47 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:04:47 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:04:47 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:04:47 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:04:47 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 16:04:47 INFO: [Worker 0] Worker 0 house 1 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:04:47 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:05:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:05:34 INFO: [Worker 0] Worker 0 house 1 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:05:38 INFO: [Worker 0] Batching and saving trajectory data for house_1: 1 episodes [pipeline.py: 233] +05/24 16:05:38 INFO: [Worker 0] Preparing episode data: 127 timesteps [save_utils.py: 284] +05/24 16:05:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:05:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1 [save_utils.py: 703] +05/24 16:05:40 INFO: [Worker 0] Successfully saved trajectory data for house_1 in 2.14s (batch: 2.08s, save: 0.06s) [pipeline.py: 280] +05/24 16:05:41 WARNING: [Worker 0] No trajectory data to save for house_1 [pipeline.py: 229] +05/24 16:05:41 INFO: [Worker 0] Worker 0 completed house 1: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:05:41 INFO: [Worker 0] Worker 0 starting house 15 (index 1/84) [pipeline.py: 473] +05/24 16:05:41 INFO: [Worker 0] Loaded 1 episodes for house 15 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:05:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:05:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_15_ceiling.xml [task_sampler.py: 797] +05/24 16:05:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=15, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:05:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:05:52 INFO: [Worker 0] randomize_scene: Setting poses for 90 objects [json_eval_task_sampler.py: 686] +05/24 16:05:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:05:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:05:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:05:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:05:52 INFO: [Worker 0] Sampled task 'Pick up the blue cooking pot with handles' [task_sampler.py: 1136] +05/24 16:05:52 INFO: [Worker 0] Worker 0 house 15 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:05:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:05:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:07:00 INFO: [Worker 0] Worker 0 house 15 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:07:03 INFO: [Worker 0] Batching and saving trajectory data for house_15: 1 episodes [pipeline.py: 233] +05/24 16:07:03 INFO: [Worker 0] Preparing episode data: 267 timesteps [save_utils.py: 284] +05/24 16:07:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:07:05 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_15 [save_utils.py: 703] +05/24 16:07:05 INFO: [Worker 0] Successfully saved trajectory data for house_15 in 1.92s (batch: 1.85s, save: 0.07s) [pipeline.py: 280] +05/24 16:07:05 WARNING: [Worker 0] No trajectory data to save for house_15 [pipeline.py: 229] +05/24 16:07:05 INFO: [Worker 0] Worker 0 completed house 15: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:07:05 INFO: [Worker 0] Worker 0 starting house 21 (index 2/84) [pipeline.py: 473] +05/24 16:07:05 INFO: [Worker 0] Loaded 2 episodes for house 21 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:07:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:07:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml [task_sampler.py: 797] +05/24 16:07:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:07:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:07:07 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 16:07:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:07:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:07:07 INFO: [Worker 0] Sampled task 'Pick up the blue rectangular pot' [task_sampler.py: 1136] +05/24 16:07:07 INFO: [Worker 0] Worker 0 house 21 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:07:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:07:08 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:07:17 INFO: [Worker 0] Worker 0 house 21 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:07:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:07:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml [task_sampler.py: 797] +05/24 16:07:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:07:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:07:23 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 16:07:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:07:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:07:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:07:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:07:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:07:23 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 16:07:23 INFO: [Worker 0] Worker 0 house 21 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:07:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:07:33 INFO: [Worker 0] Worker 0 house 21 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True [pipeline.py: 1114] +05/24 16:07:36 INFO: [Worker 0] Batching and saving trajectory data for house_21: 2 episodes [pipeline.py: 233] +05/24 16:07:36 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 16:07:38 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/24 16:07:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:07:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:07:40 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_21 [save_utils.py: 703] +05/24 16:07:40 INFO: [Worker 0] Successfully saved trajectory data for house_21 in 4.08s (batch: 4.02s, save: 0.05s) [pipeline.py: 280] +05/24 16:07:41 WARNING: [Worker 0] No trajectory data to save for house_21 [pipeline.py: 229] +05/24 16:07:41 INFO: [Worker 0] Worker 0 completed house 21: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:07:41 INFO: [Worker 0] Worker 0 starting house 32 (index 3/84) [pipeline.py: 473] +05/24 16:07:41 INFO: [Worker 0] Loaded 2 episodes for house 32 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:07:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:07:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml [task_sampler.py: 797] +05/24 16:07:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:07:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:07:46 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/24 16:07:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:07:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:07:46 INFO: [Worker 0] Sampled task 'Pick up the blue soap bottle' [task_sampler.py: 1136] +05/24 16:07:46 INFO: [Worker 0] Worker 0 house 32 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:07:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:09:17 INFO: [Worker 0] Worker 0 house 32 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False [pipeline.py: 1114] +05/24 16:09:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:09:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml [task_sampler.py: 797] +05/24 16:09:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:09:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:09:25 INFO: [Worker 0] randomize_scene: Setting poses for 80 objects [json_eval_task_sampler.py: 686] +05/24 16:09:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:09:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:09:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:09:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:09:25 INFO: [Worker 0] Sampled task 'Pick up the green wine bottle' [task_sampler.py: 1136] +05/24 16:09:25 INFO: [Worker 0] Worker 0 house 32 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:09:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:09:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:10:52 INFO: [Worker 0] Worker 0 house 32 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:10:56 INFO: [Worker 0] Batching and saving trajectory data for house_32: 2 episodes [pipeline.py: 233] +05/24 16:10:56 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:10:58 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:11:00 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:11:01 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:11:01 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32 [save_utils.py: 703] +05/24 16:11:01 INFO: [Worker 0] Successfully saved trajectory data for house_32 in 4.92s (batch: 4.74s, save: 0.18s) [pipeline.py: 280] +05/24 16:11:01 WARNING: [Worker 0] No trajectory data to save for house_32 [pipeline.py: 229] +05/24 16:11:01 INFO: [Worker 0] Worker 0 completed house 32: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:11:01 INFO: [Worker 0] Worker 0 starting house 45 (index 4/84) [pipeline.py: 473] +05/24 16:11:01 INFO: [Worker 0] Loaded 1 episodes for house 45 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:11:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:11:04 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_45_ceiling.xml [task_sampler.py: 797] +05/24 16:11:04 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=45, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:11:04 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:11:04 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/24 16:11:04 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:11:04 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:11:04 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:11:04 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:11:04 INFO: [Worker 0] Sampled task 'Pick up the orange conical spray bottle with nozzle' [task_sampler.py: 1136] +05/24 16:11:04 INFO: [Worker 0] Worker 0 house 45 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:11:04 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:11:05 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:11:18 INFO: [Worker 0] Worker 0 house 45 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:11:20 INFO: [Worker 0] Batching and saving trajectory data for house_45: 1 episodes [pipeline.py: 233] +05/24 16:11:20 INFO: [Worker 0] Preparing episode data: 73 timesteps [save_utils.py: 284] +05/24 16:11:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:11:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_45 [save_utils.py: 703] +05/24 16:11:22 INFO: [Worker 0] Successfully saved trajectory data for house_45 in 1.82s (batch: 1.79s, save: 0.03s) [pipeline.py: 280] +05/24 16:11:23 WARNING: [Worker 0] No trajectory data to save for house_45 [pipeline.py: 229] +05/24 16:11:23 INFO: [Worker 0] Worker 0 completed house 45: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:11:23 INFO: [Worker 0] Worker 0 starting house 68 (index 5/84) [pipeline.py: 473] +05/24 16:11:23 INFO: [Worker 0] Loaded 1 episodes for house 68 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:11:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:11:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_68_ceiling.xml [task_sampler.py: 797] +05/24 16:11:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=68, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:11:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:11:25 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/24 16:11:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:11:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:11:25 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 16:11:25 INFO: [Worker 0] Worker 0 house 68 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:11:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:11:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:11:34 INFO: [Worker 0] Worker 0 house 68 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:11:38 INFO: [Worker 0] Batching and saving trajectory data for house_68: 1 episodes [pipeline.py: 233] +05/24 16:11:38 INFO: [Worker 0] Preparing episode data: 55 timesteps [save_utils.py: 284] +05/24 16:11:40 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:11:40 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_68 [save_utils.py: 703] +05/24 16:11:40 INFO: [Worker 0] Successfully saved trajectory data for house_68 in 2.24s (batch: 2.21s, save: 0.03s) [pipeline.py: 280] +05/24 16:11:41 WARNING: [Worker 0] No trajectory data to save for house_68 [pipeline.py: 229] +05/24 16:11:41 INFO: [Worker 0] Worker 0 completed house 68: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:11:41 INFO: [Worker 0] Worker 0 starting house 71 (index 6/84) [pipeline.py: 473] +05/24 16:11:41 INFO: [Worker 0] Loaded 2 episodes for house 71 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:11:41 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:11:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml [task_sampler.py: 797] +05/24 16:11:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:11:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:11:48 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/24 16:11:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:11:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:11:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:11:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:11:48 INFO: [Worker 0] Sampled task 'Pick up the shiny silver kettle' [task_sampler.py: 1136] +05/24 16:11:48 INFO: [Worker 0] Worker 0 house 71 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:11:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:11:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:12:01 INFO: [Worker 0] Worker 0 house 71 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:12:05 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:12:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml [task_sampler.py: 797] +05/24 16:12:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:12:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:12:13 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/24 16:12:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:12:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:12:13 INFO: [Worker 0] Sampled task 'Pick up the medium ripe red tomato with stem' [task_sampler.py: 1136] +05/24 16:12:13 INFO: [Worker 0] Worker 0 house 71 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:12:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:12:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:13:45 INFO: [Worker 0] Worker 0 house 71 episode 1 object tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:13:48 INFO: [Worker 0] Batching and saving trajectory data for house_71: 2 episodes [pipeline.py: 233] +05/24 16:13:48 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 16:13:50 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:13:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:13:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:13:52 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71 [save_utils.py: 703] +05/24 16:13:52 INFO: [Worker 0] Successfully saved trajectory data for house_71 in 4.01s (batch: 3.90s, save: 0.12s) [pipeline.py: 280] +05/24 16:13:53 WARNING: [Worker 0] No trajectory data to save for house_71 [pipeline.py: 229] +05/24 16:13:53 INFO: [Worker 0] Worker 0 completed house 71: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:13:53 INFO: [Worker 0] Worker 0 starting house 87 (index 7/84) [pipeline.py: 473] +05/24 16:13:53 INFO: [Worker 0] Loaded 2 episodes for house 87 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:13:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:13:58 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml [task_sampler.py: 797] +05/24 16:13:58 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:13:58 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:13:58 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/24 16:13:58 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:13:58 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:13:58 INFO: [Worker 0] Sampled task 'Pick up the green wine bottle' [task_sampler.py: 1136] +05/24 16:13:58 INFO: [Worker 0] Worker 0 house 87 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:13:58 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:13:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:15:18 INFO: [Worker 0] Worker 0 house 87 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 16:15:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:15:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml [task_sampler.py: 797] +05/24 16:15:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:15:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:15:26 INFO: [Worker 0] randomize_scene: Setting poses for 73 objects [json_eval_task_sampler.py: 686] +05/24 16:15:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:15:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:15:26 INFO: [Worker 0] Sampled task 'Pick up the ripe smooth medium red apple' [task_sampler.py: 1136] +05/24 16:15:26 INFO: [Worker 0] Worker 0 house 87 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:15:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:15:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:16:48 INFO: [Worker 0] Worker 0 house 87 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 16:16:51 INFO: [Worker 0] Batching and saving trajectory data for house_87: 2 episodes [pipeline.py: 233] +05/24 16:16:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:16:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:16:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:16:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:16:56 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87 [save_utils.py: 703] +05/24 16:16:56 INFO: [Worker 0] Successfully saved trajectory data for house_87 in 4.25s (batch: 4.09s, save: 0.16s) [pipeline.py: 280] +05/24 16:16:56 WARNING: [Worker 0] No trajectory data to save for house_87 [pipeline.py: 229] +05/24 16:16:56 INFO: [Worker 0] Worker 0 completed house 87: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:16:56 INFO: [Worker 0] Worker 0 starting house 90 (index 8/84) [pipeline.py: 473] +05/24 16:16:56 INFO: [Worker 0] Loaded 1 episodes for house 90 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:16:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:16:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_90_ceiling.xml [task_sampler.py: 797] +05/24 16:16:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=90, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:16:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:16:57 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/24 16:16:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:16:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:16:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:16:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:16:57 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 16:16:57 INFO: [Worker 0] Worker 0 house 90 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:16:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:16:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:18:08 INFO: [Worker 0] Worker 0 house 90 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:18:11 INFO: [Worker 0] Batching and saving trajectory data for house_90: 1 episodes [pipeline.py: 233] +05/24 16:18:11 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:18:14 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:18:14 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90 [save_utils.py: 703] +05/24 16:18:14 INFO: [Worker 0] Successfully saved trajectory data for house_90 in 2.50s (batch: 2.42s, save: 0.09s) [pipeline.py: 280] +05/24 16:18:14 WARNING: [Worker 0] No trajectory data to save for house_90 [pipeline.py: 229] +05/24 16:18:14 INFO: [Worker 0] Worker 0 completed house 90: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:18:14 INFO: [Worker 0] Worker 0 starting house 102 (index 9/84) [pipeline.py: 473] +05/24 16:18:14 INFO: [Worker 0] Loaded 2 episodes for house 102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:18:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:18:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml [task_sampler.py: 797] +05/24 16:18:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:18:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:18:17 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 16:18:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:18:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:18:17 INFO: [Worker 0] Sampled task 'Pick up the spoon' [task_sampler.py: 1136] +05/24 16:18:17 INFO: [Worker 0] Worker 0 house 102 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:18:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:18:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:18:29 INFO: [Worker 0] Worker 0 house 102 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:18:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:18:35 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml [task_sampler.py: 797] +05/24 16:18:35 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:18:35 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:18:35 INFO: [Worker 0] randomize_scene: Setting poses for 46 objects [json_eval_task_sampler.py: 686] +05/24 16:18:35 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:18:35 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:18:35 INFO: [Worker 0] Sampled task 'Pick up the shiny silver metallic kettle with handle' [task_sampler.py: 1136] +05/24 16:18:35 INFO: [Worker 0] Worker 0 house 102 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:18:35 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:18:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:18:45 INFO: [Worker 0] Worker 0 house 102 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:18:48 INFO: [Worker 0] Batching and saving trajectory data for house_102: 2 episodes [pipeline.py: 233] +05/24 16:18:48 INFO: [Worker 0] Preparing episode data: 64 timesteps [save_utils.py: 284] +05/24 16:18:50 INFO: [Worker 0] Preparing episode data: 55 timesteps [save_utils.py: 284] +05/24 16:18:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:18:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:18:51 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102 [save_utils.py: 703] +05/24 16:18:51 INFO: [Worker 0] Successfully saved trajectory data for house_102 in 3.58s (batch: 3.53s, save: 0.05s) [pipeline.py: 280] +05/24 16:18:52 WARNING: [Worker 0] No trajectory data to save for house_102 [pipeline.py: 229] +05/24 16:18:52 INFO: [Worker 0] Worker 0 completed house 102: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:18:52 INFO: [Worker 0] Worker 0 starting house 112 (index 10/84) [pipeline.py: 473] +05/24 16:18:52 INFO: [Worker 0] Loaded 2 episodes for house 112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:18:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:18:53 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml [task_sampler.py: 797] +05/24 16:18:53 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:18:53 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:18:53 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/24 16:18:53 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:18:53 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:18:53 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:18:53 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:18:53 INFO: [Worker 0] Sampled task 'Pick up the light wooden cup with rim' [task_sampler.py: 1136] +05/24 16:18:53 INFO: [Worker 0] Worker 0 house 112 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:18:53 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:18:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:19:10 INFO: [Worker 0] Worker 0 house 112 episode 0 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:19:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:19:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml [task_sampler.py: 797] +05/24 16:19:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:19:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:19:14 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/24 16:19:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:19:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:19:14 INFO: [Worker 0] Sampled task 'Pick up the blue soap bottle with golden pump' [task_sampler.py: 1136] +05/24 16:19:14 INFO: [Worker 0] Worker 0 house 112 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:19:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:19:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:20:22 INFO: [Worker 0] Worker 0 house 112 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:20:25 INFO: [Worker 0] Batching and saving trajectory data for house_112: 2 episodes [pipeline.py: 233] +05/24 16:20:25 INFO: [Worker 0] Preparing episode data: 102 timesteps [save_utils.py: 284] +05/24 16:20:27 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:20:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:20:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:20:29 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112 [save_utils.py: 703] +05/24 16:20:29 INFO: [Worker 0] Successfully saved trajectory data for house_112 in 3.91s (batch: 3.80s, save: 0.11s) [pipeline.py: 280] +05/24 16:20:29 WARNING: [Worker 0] No trajectory data to save for house_112 [pipeline.py: 229] +05/24 16:20:29 INFO: [Worker 0] Worker 0 completed house 112: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:20:29 INFO: [Worker 0] Worker 0 starting house 128 (index 11/84) [pipeline.py: 473] +05/24 16:20:29 INFO: [Worker 0] Loaded 2 episodes for house 128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:20:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:20:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml [task_sampler.py: 797] +05/24 16:20:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:20:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:20:31 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/24 16:20:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:20:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:20:31 INFO: [Worker 0] Sampled task 'Pick up the light brown bowl' [task_sampler.py: 1136] +05/24 16:20:31 INFO: [Worker 0] Worker 0 house 128 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:20:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:20:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:20:39 INFO: [Worker 0] Worker 0 house 128 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:20:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:20:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml [task_sampler.py: 797] +05/24 16:20:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:20:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:20:43 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/24 16:20:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:20:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:20:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:20:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:20:43 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 16:20:43 INFO: [Worker 0] Worker 0 house 128 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:20:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:20:44 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:21:00 INFO: [Worker 0] Worker 0 house 128 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:21:03 INFO: [Worker 0] Batching and saving trajectory data for house_128: 2 episodes [pipeline.py: 233] +05/24 16:21:03 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 16:21:04 INFO: [Worker 0] Preparing episode data: 112 timesteps [save_utils.py: 284] +05/24 16:21:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:21:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:21:06 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128 [save_utils.py: 703] +05/24 16:21:06 INFO: [Worker 0] Successfully saved trajectory data for house_128 in 3.71s (batch: 3.64s, save: 0.07s) [pipeline.py: 280] +05/24 16:21:07 WARNING: [Worker 0] No trajectory data to save for house_128 [pipeline.py: 229] +05/24 16:21:07 INFO: [Worker 0] Worker 0 completed house 128: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:21:07 INFO: [Worker 0] Worker 0 starting house 138 (index 12/84) [pipeline.py: 473] +05/24 16:21:07 INFO: [Worker 0] Loaded 1 episodes for house 138 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:21:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:21:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_138_ceiling.xml [task_sampler.py: 797] +05/24 16:21:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=138, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:21:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:21:08 INFO: [Worker 0] randomize_scene: Setting poses for 25 objects [json_eval_task_sampler.py: 686] +05/24 16:21:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:21:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:21:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:21:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:21:09 INFO: [Worker 0] Sampled task 'Pick up the spray bottle' [task_sampler.py: 1136] +05/24 16:21:09 INFO: [Worker 0] Worker 0 house 138 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:21:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:21:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:21:18 INFO: [Worker 0] Worker 0 house 138 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:21:21 INFO: [Worker 0] Batching and saving trajectory data for house_138: 1 episodes [pipeline.py: 233] +05/24 16:21:21 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/24 16:21:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:21:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_138 [save_utils.py: 703] +05/24 16:21:23 INFO: [Worker 0] Successfully saved trajectory data for house_138 in 1.93s (batch: 1.90s, save: 0.03s) [pipeline.py: 280] +05/24 16:21:23 WARNING: [Worker 0] No trajectory data to save for house_138 [pipeline.py: 229] +05/24 16:21:23 INFO: [Worker 0] Worker 0 completed house 138: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:21:23 INFO: [Worker 0] Worker 0 starting house 155 (index 13/84) [pipeline.py: 473] +05/24 16:21:23 INFO: [Worker 0] Loaded 2 episodes for house 155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:21:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:21:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml [task_sampler.py: 797] +05/24 16:21:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:21:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:21:26 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/24 16:21:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:21:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:21:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:21:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:21:26 INFO: [Worker 0] Sampled task 'Pick up the green ladle' [task_sampler.py: 1136] +05/24 16:21:26 INFO: [Worker 0] Worker 0 house 155 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:21:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:21:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:21:41 INFO: [Worker 0] Worker 0 house 155 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:21:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:21:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml [task_sampler.py: 797] +05/24 16:21:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:21:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:21:46 INFO: [Worker 0] randomize_scene: Setting poses for 40 objects [json_eval_task_sampler.py: 686] +05/24 16:21:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:21:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:21:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:21:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:21:46 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 16:21:46 INFO: [Worker 0] Worker 0 house 155 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:21:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:21:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:21:51 INFO: [Worker 0] Worker 0 house 155 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:21:54 INFO: [Worker 0] Batching and saving trajectory data for house_155: 2 episodes [pipeline.py: 233] +05/24 16:21:54 INFO: [Worker 0] Preparing episode data: 76 timesteps [save_utils.py: 284] +05/24 16:21:56 INFO: [Worker 0] Preparing episode data: 33 timesteps [save_utils.py: 284] +05/24 16:21:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:21:58 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:21:58 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155 [save_utils.py: 703] +05/24 16:21:58 INFO: [Worker 0] Successfully saved trajectory data for house_155 in 3.59s (batch: 3.54s, save: 0.05s) [pipeline.py: 280] +05/24 16:21:58 WARNING: [Worker 0] No trajectory data to save for house_155 [pipeline.py: 229] +05/24 16:21:58 INFO: [Worker 0] Worker 0 completed house 155: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:21:58 INFO: [Worker 0] Worker 0 starting house 159 (index 14/84) [pipeline.py: 473] +05/24 16:21:58 INFO: [Worker 0] Loaded 1 episodes for house 159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:21:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:22:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_159_ceiling.xml [task_sampler.py: 797] +05/24 16:22:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=159, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:22:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:22:01 INFO: [Worker 0] randomize_scene: Setting poses for 64 objects [json_eval_task_sampler.py: 686] +05/24 16:22:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:22:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:22:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:22:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:22:01 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 16:22:01 INFO: [Worker 0] Worker 0 house 159 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:22:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:22:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:23:24 INFO: [Worker 0] Worker 0 house 159 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False [pipeline.py: 1114] +05/24 16:23:27 INFO: [Worker 0] Batching and saving trajectory data for house_159: 1 episodes [pipeline.py: 233] +05/24 16:23:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:23:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:23:30 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_159 [save_utils.py: 703] +05/24 16:23:30 INFO: [Worker 0] Successfully saved trajectory data for house_159 in 2.59s (batch: 2.49s, save: 0.10s) [pipeline.py: 280] +05/24 16:23:31 WARNING: [Worker 0] No trajectory data to save for house_159 [pipeline.py: 229] +05/24 16:23:31 INFO: [Worker 0] Worker 0 completed house 159: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:23:31 INFO: [Worker 0] Worker 0 starting house 182 (index 15/84) [pipeline.py: 473] +05/24 16:23:31 INFO: [Worker 0] Loaded 1 episodes for house 182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:23:31 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:23:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_182_ceiling.xml [task_sampler.py: 797] +05/24 16:23:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=182, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:23:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:23:38 INFO: [Worker 0] randomize_scene: Setting poses for 99 objects [json_eval_task_sampler.py: 686] +05/24 16:23:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:23:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:23:38 INFO: [Worker 0] Sampled task 'Pick up the shiny metal ladle' [task_sampler.py: 1136] +05/24 16:23:38 INFO: [Worker 0] Worker 0 house 182 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:23:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:25:16 INFO: [Worker 0] Worker 0 house 182 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:25:19 INFO: [Worker 0] Batching and saving trajectory data for house_182: 1 episodes [pipeline.py: 233] +05/24 16:25:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:25:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:25:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_182 [save_utils.py: 703] +05/24 16:25:21 INFO: [Worker 0] Successfully saved trajectory data for house_182 in 2.08s (batch: 1.98s, save: 0.10s) [pipeline.py: 280] +05/24 16:25:21 WARNING: [Worker 0] No trajectory data to save for house_182 [pipeline.py: 229] +05/24 16:25:21 INFO: [Worker 0] Worker 0 completed house 182: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:25:21 INFO: [Worker 0] Worker 0 starting house 192 (index 16/84) [pipeline.py: 473] +05/24 16:25:21 INFO: [Worker 0] Loaded 2 episodes for house 192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:25:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:25:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml [task_sampler.py: 797] +05/24 16:25:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:25:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:25:25 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/24 16:25:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:25:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:25:25 INFO: [Worker 0] Sampled task 'Pick up the butterknife' [task_sampler.py: 1136] +05/24 16:25:25 INFO: [Worker 0] Worker 0 house 192 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:25:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:25:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:25:37 INFO: [Worker 0] Worker 0 house 192 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:25:40 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:25:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml [task_sampler.py: 797] +05/24 16:25:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:25:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:25:44 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/24 16:25:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:25:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:25:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:25:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:25:44 INFO: [Worker 0] Sampled task 'Pick up the spoon' [task_sampler.py: 1136] +05/24 16:25:44 INFO: [Worker 0] Worker 0 house 192 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:25:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:25:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:27:09 INFO: [Worker 0] Worker 0 house 192 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:27:12 INFO: [Worker 0] Batching and saving trajectory data for house_192: 2 episodes [pipeline.py: 233] +05/24 16:27:12 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/24 16:27:14 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:27:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:27:16 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:27:16 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192 [save_utils.py: 703] +05/24 16:27:16 INFO: [Worker 0] Successfully saved trajectory data for house_192 in 4.03s (batch: 3.91s, save: 0.12s) [pipeline.py: 280] +05/24 16:27:17 WARNING: [Worker 0] No trajectory data to save for house_192 [pipeline.py: 229] +05/24 16:27:17 INFO: [Worker 0] Worker 0 completed house 192: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:27:17 INFO: [Worker 0] Worker 0 starting house 196 (index 17/84) [pipeline.py: 473] +05/24 16:27:17 INFO: [Worker 0] Loaded 1 episodes for house 196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:27:17 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:27:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_196_ceiling.xml [task_sampler.py: 797] +05/24 16:27:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=196, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:27:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:27:18 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/24 16:27:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:27:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:27:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:27:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:27:18 INFO: [Worker 0] Sampled task 'Pick up the light gray wooden bowl' [task_sampler.py: 1136] +05/24 16:27:18 INFO: [Worker 0] Worker 0 house 196 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:27:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:27:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:27:33 INFO: [Worker 0] Worker 0 house 196 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:27:36 INFO: [Worker 0] Batching and saving trajectory data for house_196: 1 episodes [pipeline.py: 233] +05/24 16:27:36 INFO: [Worker 0] Preparing episode data: 95 timesteps [save_utils.py: 284] +05/24 16:27:39 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:27:39 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_196 [save_utils.py: 703] +05/24 16:27:39 INFO: [Worker 0] Successfully saved trajectory data for house_196 in 2.23s (batch: 2.17s, save: 0.05s) [pipeline.py: 280] +05/24 16:27:39 WARNING: [Worker 0] No trajectory data to save for house_196 [pipeline.py: 229] +05/24 16:27:39 INFO: [Worker 0] Worker 0 completed house 196: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:27:39 INFO: [Worker 0] Worker 0 starting house 215 (index 18/84) [pipeline.py: 473] +05/24 16:27:39 INFO: [Worker 0] Loaded 1 episodes for house 215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:27:39 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:27:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_215_ceiling.xml [task_sampler.py: 797] +05/24 16:27:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=215, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:27:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:27:40 INFO: [Worker 0] randomize_scene: Setting poses for 9 objects [json_eval_task_sampler.py: 686] +05/24 16:27:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:27:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:27:40 INFO: [Worker 0] Sampled task 'Pick up the slim black remote with buttons' [task_sampler.py: 1136] +05/24 16:27:40 INFO: [Worker 0] Worker 0 house 215 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:27:41 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:27:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:28:46 INFO: [Worker 0] Worker 0 house 215 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:28:49 INFO: [Worker 0] Batching and saving trajectory data for house_215: 1 episodes [pipeline.py: 233] +05/24 16:28:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:28:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:28:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_215 [save_utils.py: 703] +05/24 16:28:52 INFO: [Worker 0] Successfully saved trajectory data for house_215 in 2.75s (batch: 2.65s, save: 0.10s) [pipeline.py: 280] +05/24 16:28:52 WARNING: [Worker 0] No trajectory data to save for house_215 [pipeline.py: 229] +05/24 16:28:52 INFO: [Worker 0] Worker 0 completed house 215: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:28:52 INFO: [Worker 0] Worker 0 starting house 227 (index 19/84) [pipeline.py: 473] +05/24 16:28:52 INFO: [Worker 0] Loaded 2 episodes for house 227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:28:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:28:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml [task_sampler.py: 797] +05/24 16:28:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:28:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:28:55 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/24 16:28:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:28:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:28:55 INFO: [Worker 0] Sampled task 'Pick up the blue cooking pot with handles' [task_sampler.py: 1136] +05/24 16:28:55 INFO: [Worker 0] Worker 0 house 227 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:28:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:28:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:29:04 INFO: [Worker 0] Worker 0 house 227 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:29:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:29:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml [task_sampler.py: 797] +05/24 16:29:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:29:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:29:10 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/24 16:29:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:29:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:29:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:29:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:29:10 INFO: [Worker 0] Sampled task 'Pick up the dark teal box' [task_sampler.py: 1136] +05/24 16:29:10 INFO: [Worker 0] Worker 0 house 227 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:29:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:29:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:29:22 INFO: [Worker 0] Worker 0 house 227 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True [pipeline.py: 1114] +05/24 16:29:25 INFO: [Worker 0] Batching and saving trajectory data for house_227: 2 episodes [pipeline.py: 233] +05/24 16:29:25 INFO: [Worker 0] Preparing episode data: 50 timesteps [save_utils.py: 284] +05/24 16:29:27 INFO: [Worker 0] Preparing episode data: 70 timesteps [save_utils.py: 284] +05/24 16:29:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:29:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:29:30 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_227 [save_utils.py: 703] +05/24 16:29:30 INFO: [Worker 0] Successfully saved trajectory data for house_227 in 4.54s (batch: 4.49s, save: 0.06s) [pipeline.py: 280] +05/24 16:29:30 WARNING: [Worker 0] No trajectory data to save for house_227 [pipeline.py: 229] +05/24 16:29:30 INFO: [Worker 0] Worker 0 completed house 227: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:29:30 INFO: [Worker 0] Worker 0 starting house 243 (index 20/84) [pipeline.py: 473] +05/24 16:29:30 INFO: [Worker 0] Loaded 1 episodes for house 243 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:29:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:29:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_243_ceiling.xml [task_sampler.py: 797] +05/24 16:29:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=243, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:29:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:29:33 INFO: [Worker 0] randomize_scene: Setting poses for 37 objects [json_eval_task_sampler.py: 686] +05/24 16:29:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:29:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:29:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:29:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:29:33 INFO: [Worker 0] Sampled task 'Pick up the glass salt shaker' [task_sampler.py: 1136] +05/24 16:29:33 INFO: [Worker 0] Worker 0 house 243 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:29:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:29:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:30:48 INFO: [Worker 0] Worker 0 house 243 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:30:51 INFO: [Worker 0] Batching and saving trajectory data for house_243: 1 episodes [pipeline.py: 233] +05/24 16:30:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:30:53 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:30:53 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_243 [save_utils.py: 703] +05/24 16:30:53 INFO: [Worker 0] Successfully saved trajectory data for house_243 in 2.06s (batch: 1.98s, save: 0.08s) [pipeline.py: 280] +05/24 16:30:53 WARNING: [Worker 0] No trajectory data to save for house_243 [pipeline.py: 229] +05/24 16:30:53 INFO: [Worker 0] Worker 0 completed house 243: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:30:53 INFO: [Worker 0] Worker 0 starting house 248 (index 21/84) [pipeline.py: 473] +05/24 16:30:53 INFO: [Worker 0] Loaded 2 episodes for house 248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:30:53 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:30:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml [task_sampler.py: 797] +05/24 16:30:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:30:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:30:55 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/24 16:30:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:30:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:30:55 INFO: [Worker 0] Sampled task 'Pick up the slim black remote with buttons' [task_sampler.py: 1136] +05/24 16:30:55 INFO: [Worker 0] Worker 0 house 248 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:30:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:30:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:31:06 INFO: [Worker 0] Worker 0 house 248 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True [pipeline.py: 1114] +05/24 16:31:08 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:31:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml [task_sampler.py: 797] +05/24 16:31:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:31:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:31:10 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/24 16:31:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:31:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:31:10 INFO: [Worker 0] Sampled task 'Pick up the shiny silver kettle' [task_sampler.py: 1136] +05/24 16:31:10 INFO: [Worker 0] Worker 0 house 248 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:31:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:31:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:31:20 INFO: [Worker 0] Worker 0 house 248 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:31:23 INFO: [Worker 0] Batching and saving trajectory data for house_248: 2 episodes [pipeline.py: 233] +05/24 16:31:23 INFO: [Worker 0] Preparing episode data: 71 timesteps [save_utils.py: 284] +05/24 16:31:26 INFO: [Worker 0] Preparing episode data: 62 timesteps [save_utils.py: 284] +05/24 16:31:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:31:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:31:28 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_248 [save_utils.py: 703] +05/24 16:31:28 INFO: [Worker 0] Successfully saved trajectory data for house_248 in 4.53s (batch: 4.47s, save: 0.06s) [pipeline.py: 280] +05/24 16:31:28 WARNING: [Worker 0] No trajectory data to save for house_248 [pipeline.py: 229] +05/24 16:31:28 INFO: [Worker 0] Worker 0 completed house 248: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:31:28 INFO: [Worker 0] Worker 0 starting house 258 (index 22/84) [pipeline.py: 473] +05/24 16:31:28 INFO: [Worker 0] Loaded 1 episodes for house 258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:31:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:31:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_258_ceiling.xml [task_sampler.py: 797] +05/24 16:31:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=258, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:31:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:31:31 INFO: [Worker 0] randomize_scene: Setting poses for 30 objects [json_eval_task_sampler.py: 686] +05/24 16:31:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:31:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:31:31 INFO: [Worker 0] Sampled task 'Pick up the glass salt shaker' [task_sampler.py: 1136] +05/24 16:31:31 INFO: [Worker 0] Worker 0 house 258 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:31:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:31:31 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:31:40 INFO: [Worker 0] Worker 0 house 258 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:31:43 INFO: [Worker 0] Batching and saving trajectory data for house_258: 1 episodes [pipeline.py: 233] +05/24 16:31:43 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 16:31:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:31:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_258 [save_utils.py: 703] +05/24 16:31:44 INFO: [Worker 0] Successfully saved trajectory data for house_258 in 1.88s (batch: 1.85s, save: 0.03s) [pipeline.py: 280] +05/24 16:31:45 WARNING: [Worker 0] No trajectory data to save for house_258 [pipeline.py: 229] +05/24 16:31:45 INFO: [Worker 0] Worker 0 completed house 258: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:31:45 INFO: [Worker 0] Worker 0 starting house 278 (index 23/84) [pipeline.py: 473] +05/24 16:31:45 INFO: [Worker 0] Loaded 2 episodes for house 278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:31:45 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:31:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml [task_sampler.py: 797] +05/24 16:31:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:31:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:31:49 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/24 16:31:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:31:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:31:49 INFO: [Worker 0] Sampled task 'Pick up the soap dispenser' [task_sampler.py: 1136] +05/24 16:31:49 INFO: [Worker 0] Worker 0 house 278 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:31:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:32:34 INFO: [Worker 0] Worker 0 house 278 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_7 completed with success=True [pipeline.py: 1114] +05/24 16:32:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:32:43 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml [task_sampler.py: 797] +05/24 16:32:43 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:32:43 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:32:43 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/24 16:32:43 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:32:43 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:32:43 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 16:32:43 INFO: [Worker 0] Worker 0 house 278 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:32:43 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:32:43 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:32:58 INFO: [Worker 0] Worker 0 house 278 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 16:33:01 INFO: [Worker 0] Batching and saving trajectory data for house_278: 2 episodes [pipeline.py: 233] +05/24 16:33:01 INFO: [Worker 0] Preparing episode data: 232 timesteps [save_utils.py: 284] +05/24 16:33:04 INFO: [Worker 0] Preparing episode data: 81 timesteps [save_utils.py: 284] +05/24 16:33:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:33:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:33:06 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_278 [save_utils.py: 703] +05/24 16:33:06 INFO: [Worker 0] Successfully saved trajectory data for house_278 in 4.69s (batch: 4.60s, save: 0.09s) [pipeline.py: 280] +05/24 16:33:06 WARNING: [Worker 0] No trajectory data to save for house_278 [pipeline.py: 229] +05/24 16:33:06 INFO: [Worker 0] Worker 0 completed house 278: 2/2 successful episodes [pipeline.py: 1243] +05/24 16:33:06 INFO: [Worker 0] Worker 0 starting house 286 (index 24/84) [pipeline.py: 473] +05/24 16:33:06 INFO: [Worker 0] Loaded 1 episodes for house 286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:33:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:33:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_286_ceiling.xml [task_sampler.py: 797] +05/24 16:33:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=286, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:33:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:33:09 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/24 16:33:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:33:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:33:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:33:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:33:09 INFO: [Worker 0] Sampled task 'Pick up the dark teal box' [task_sampler.py: 1136] +05/24 16:33:09 INFO: [Worker 0] Worker 0 house 286 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:33:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:33:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:33:19 INFO: [Worker 0] Worker 0 house 286 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:33:21 INFO: [Worker 0] Batching and saving trajectory data for house_286: 1 episodes [pipeline.py: 233] +05/24 16:33:21 INFO: [Worker 0] Preparing episode data: 52 timesteps [save_utils.py: 284] +05/24 16:33:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:33:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_286 [save_utils.py: 703] +05/24 16:33:23 INFO: [Worker 0] Successfully saved trajectory data for house_286 in 1.86s (batch: 1.83s, save: 0.03s) [pipeline.py: 280] +05/24 16:33:24 WARNING: [Worker 0] No trajectory data to save for house_286 [pipeline.py: 229] +05/24 16:33:24 INFO: [Worker 0] Worker 0 completed house 286: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:33:24 INFO: [Worker 0] Worker 0 starting house 306 (index 25/84) [pipeline.py: 473] +05/24 16:33:24 INFO: [Worker 0] Loaded 2 episodes for house 306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:33:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:33:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml [task_sampler.py: 797] +05/24 16:33:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:33:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:33:28 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/24 16:33:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:33:28 INFO: [Worker 0] Sampled task 'Pick up the soapdispenser' [task_sampler.py: 1136] +05/24 16:33:28 INFO: [Worker 0] Worker 0 house 306 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:33:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:33:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:34:54 INFO: [Worker 0] Worker 0 house 306 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_5 completed with success=False [pipeline.py: 1114] +05/24 16:34:58 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:35:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml [task_sampler.py: 797] +05/24 16:35:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:35:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:35:02 INFO: [Worker 0] randomize_scene: Setting poses for 62 objects [json_eval_task_sampler.py: 686] +05/24 16:35:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:35:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:35:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:35:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:35:02 INFO: [Worker 0] Sampled task 'Pick up the yellow kitchen knife blade' [task_sampler.py: 1136] +05/24 16:35:02 INFO: [Worker 0] Worker 0 house 306 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:35:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:36:54 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:38:12 INFO: [Worker 0] Worker 0 house 306 episode 1 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 16:38:16 INFO: [Worker 0] Batching and saving trajectory data for house_306: 2 episodes [pipeline.py: 233] +05/24 16:38:16 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:38:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:38:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:38:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:38:21 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306 [save_utils.py: 703] +05/24 16:38:21 INFO: [Worker 0] Successfully saved trajectory data for house_306 in 5.18s (batch: 5.00s, save: 0.18s) [pipeline.py: 280] +05/24 16:38:22 WARNING: [Worker 0] No trajectory data to save for house_306 [pipeline.py: 229] +05/24 16:38:22 INFO: [Worker 0] Worker 0 completed house 306: 0/2 successful episodes [pipeline.py: 1243] +05/24 16:38:22 INFO: [Worker 0] Worker 0 starting house 314 (index 26/84) [pipeline.py: 473] +05/24 16:38:22 INFO: [Worker 0] Loaded 1 episodes for house 314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:38:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:38:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_314_ceiling.xml [task_sampler.py: 797] +05/24 16:38:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=314, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:38:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:38:26 INFO: [Worker 0] randomize_scene: Setting poses for 66 objects [json_eval_task_sampler.py: 686] +05/24 16:38:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:38:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:38:26 INFO: [Worker 0] Sampled task 'Pick up the utensil' [task_sampler.py: 1136] +05/24 16:38:26 INFO: [Worker 0] Worker 0 house 314 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:38:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:38:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:39:51 INFO: [Worker 0] Worker 0 house 314 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:39:54 INFO: [Worker 0] Batching and saving trajectory data for house_314: 1 episodes [pipeline.py: 233] +05/24 16:39:54 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:39:56 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:39:56 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_314 [save_utils.py: 703] +05/24 16:39:56 INFO: [Worker 0] Successfully saved trajectory data for house_314 in 2.07s (batch: 1.99s, save: 0.08s) [pipeline.py: 280] +05/24 16:39:57 WARNING: [Worker 0] No trajectory data to save for house_314 [pipeline.py: 229] +05/24 16:39:57 INFO: [Worker 0] Worker 0 completed house 314: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:39:57 INFO: [Worker 0] Worker 0 starting house 329 (index 27/84) [pipeline.py: 473] +05/24 16:39:57 INFO: [Worker 0] Loaded 1 episodes for house 329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:39:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:39:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_329_ceiling.xml [task_sampler.py: 797] +05/24 16:39:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=329, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:39:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:39:59 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/24 16:39:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:39:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:39:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:39:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:39:59 INFO: [Worker 0] Sampled task 'Pick up the light brown bowl' [task_sampler.py: 1136] +05/24 16:39:59 INFO: [Worker 0] Worker 0 house 329 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:39:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:40:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:40:28 INFO: [Worker 0] Worker 0 house 329 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 completed with success=True [pipeline.py: 1114] +05/24 16:40:31 INFO: [Worker 0] Batching and saving trajectory data for house_329: 1 episodes [pipeline.py: 233] +05/24 16:40:31 INFO: [Worker 0] Preparing episode data: 158 timesteps [save_utils.py: 284] +05/24 16:40:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:40:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_329 [save_utils.py: 703] +05/24 16:40:33 INFO: [Worker 0] Successfully saved trajectory data for house_329 in 1.90s (batch: 1.86s, save: 0.05s) [pipeline.py: 280] +05/24 16:40:33 WARNING: [Worker 0] No trajectory data to save for house_329 [pipeline.py: 229] +05/24 16:40:33 INFO: [Worker 0] Worker 0 completed house 329: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:40:33 INFO: [Worker 0] Worker 0 starting house 330 (index 28/84) [pipeline.py: 473] +05/24 16:40:33 INFO: [Worker 0] Loaded 2 episodes for house 330 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:40:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:40:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml [task_sampler.py: 797] +05/24 16:40:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:40:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:40:36 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/24 16:40:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:40:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:40:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:40:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:40:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:40:36 INFO: [Worker 0] Sampled task 'Pick up the green tissue box' [task_sampler.py: 1136] +05/24 16:40:36 INFO: [Worker 0] Worker 0 house 330 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:40:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:40:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:40:51 INFO: [Worker 0] Worker 0 house 330 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True [pipeline.py: 1114] +05/24 16:40:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:40:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml [task_sampler.py: 797] +05/24 16:40:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:40:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:40:57 INFO: [Worker 0] randomize_scene: Setting poses for 39 objects [json_eval_task_sampler.py: 686] +05/24 16:40:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:40:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:40:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:40:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:40:57 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 16:40:57 INFO: [Worker 0] Worker 0 house 330 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:40:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:40:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:42:12 INFO: [Worker 0] Worker 0 house 330 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:42:15 INFO: [Worker 0] Batching and saving trajectory data for house_330: 2 episodes [pipeline.py: 233] +05/24 16:42:15 INFO: [Worker 0] Preparing episode data: 81 timesteps [save_utils.py: 284] +05/24 16:42:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:42:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:42:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:42:20 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330 [save_utils.py: 703] +05/24 16:42:20 INFO: [Worker 0] Successfully saved trajectory data for house_330 in 4.75s (batch: 4.64s, save: 0.11s) [pipeline.py: 280] +05/24 16:42:21 WARNING: [Worker 0] No trajectory data to save for house_330 [pipeline.py: 229] +05/24 16:42:21 INFO: [Worker 0] Worker 0 completed house 330: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:42:21 INFO: [Worker 0] Worker 0 starting house 351 (index 29/84) [pipeline.py: 473] +05/24 16:42:21 INFO: [Worker 0] Loaded 1 episodes for house 351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:42:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:42:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_351_ceiling.xml [task_sampler.py: 797] +05/24 16:42:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=351, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:42:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:42:27 INFO: [Worker 0] randomize_scene: Setting poses for 100 objects [json_eval_task_sampler.py: 686] +05/24 16:42:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:42:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:42:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:42:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:42:28 INFO: [Worker 0] Sampled task 'Pick up the glossy red tomato' [task_sampler.py: 1136] +05/24 16:42:28 INFO: [Worker 0] Worker 0 house 351 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:42:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:42:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:44:04 INFO: [Worker 0] Worker 0 house 351 episode 0 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:44:08 INFO: [Worker 0] Batching and saving trajectory data for house_351: 1 episodes [pipeline.py: 233] +05/24 16:44:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:44:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:44:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_351 [save_utils.py: 703] +05/24 16:44:10 INFO: [Worker 0] Successfully saved trajectory data for house_351 in 2.49s (batch: 2.39s, save: 0.09s) [pipeline.py: 280] +05/24 16:44:11 WARNING: [Worker 0] No trajectory data to save for house_351 [pipeline.py: 229] +05/24 16:44:11 INFO: [Worker 0] Worker 0 completed house 351: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:44:11 INFO: [Worker 0] Worker 0 starting house 354 (index 30/84) [pipeline.py: 473] +05/24 16:44:11 INFO: [Worker 0] Loaded 2 episodes for house 354 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:44:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:44:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml [task_sampler.py: 797] +05/24 16:44:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:44:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:44:14 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/24 16:44:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:44:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:44:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:44:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:44:14 INFO: [Worker 0] Sampled task 'Pick up the dark kitchen spatula' [task_sampler.py: 1136] +05/24 16:44:14 INFO: [Worker 0] Worker 0 house 354 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:44:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:44:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:44:26 INFO: [Worker 0] Worker 0 house 354 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:44:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:44:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml [task_sampler.py: 797] +05/24 16:44:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:44:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:44:32 INFO: [Worker 0] randomize_scene: Setting poses for 60 objects [json_eval_task_sampler.py: 686] +05/24 16:44:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:44:32 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 16:44:32 INFO: [Worker 0] Worker 0 house 354 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:44:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:44:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:45:57 INFO: [Worker 0] Worker 0 house 354 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:46:00 INFO: [Worker 0] Batching and saving trajectory data for house_354: 2 episodes [pipeline.py: 233] +05/24 16:46:01 INFO: [Worker 0] Preparing episode data: 56 timesteps [save_utils.py: 284] +05/24 16:46:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:46:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:46:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:46:06 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354 [save_utils.py: 703] +05/24 16:46:06 INFO: [Worker 0] Successfully saved trajectory data for house_354 in 4.90s (batch: 4.78s, save: 0.12s) [pipeline.py: 280] +05/24 16:46:06 WARNING: [Worker 0] No trajectory data to save for house_354 [pipeline.py: 229] +05/24 16:46:06 INFO: [Worker 0] Worker 0 completed house 354: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:46:06 INFO: [Worker 0] Worker 0 starting house 369 (index 31/84) [pipeline.py: 473] +05/24 16:46:06 INFO: [Worker 0] Loaded 1 episodes for house 369 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:46:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:46:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_369_ceiling.xml [task_sampler.py: 797] +05/24 16:46:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=369, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:46:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:46:08 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 16:46:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:46:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:46:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:46:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:46:08 INFO: [Worker 0] Sampled task 'Pick up the polished stainless steel fork with curve' [task_sampler.py: 1136] +05/24 16:46:08 INFO: [Worker 0] Worker 0 house 369 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:46:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:46:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:46:17 INFO: [Worker 0] Worker 0 house 369 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:46:21 INFO: [Worker 0] Batching and saving trajectory data for house_369: 1 episodes [pipeline.py: 233] +05/24 16:46:21 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 16:46:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:46:23 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_369 [save_utils.py: 703] +05/24 16:46:23 INFO: [Worker 0] Successfully saved trajectory data for house_369 in 2.29s (batch: 2.26s, save: 0.03s) [pipeline.py: 280] +05/24 16:46:24 WARNING: [Worker 0] No trajectory data to save for house_369 [pipeline.py: 229] +05/24 16:46:24 INFO: [Worker 0] Worker 0 completed house 369: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:46:24 INFO: [Worker 0] Worker 0 starting house 375 (index 32/84) [pipeline.py: 473] +05/24 16:46:24 INFO: [Worker 0] Loaded 2 episodes for house 375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:46:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:46:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml [task_sampler.py: 797] +05/24 16:46:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:46:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:46:26 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 16:46:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:46:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:46:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:46:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:46:26 INFO: [Worker 0] Sampled task 'Pick up the peppershaker' [task_sampler.py: 1136] +05/24 16:46:26 INFO: [Worker 0] Worker 0 house 375 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:46:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:46:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:46:38 INFO: [Worker 0] Worker 0 house 375 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:46:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:46:44 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml [task_sampler.py: 797] +05/24 16:46:44 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:46:44 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:46:44 INFO: [Worker 0] randomize_scene: Setting poses for 32 objects [json_eval_task_sampler.py: 686] +05/24 16:46:44 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:46:44 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:46:44 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:46:44 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:46:44 INFO: [Worker 0] Sampled task 'Pick up the green ladle' [task_sampler.py: 1136] +05/24 16:46:44 INFO: [Worker 0] Worker 0 house 375 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:46:44 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:46:45 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:47:56 INFO: [Worker 0] Worker 0 house 375 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:47:59 INFO: [Worker 0] Batching and saving trajectory data for house_375: 2 episodes [pipeline.py: 233] +05/24 16:47:59 INFO: [Worker 0] Preparing episode data: 69 timesteps [save_utils.py: 284] +05/24 16:48:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:48:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:48:03 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:48:03 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375 [save_utils.py: 703] +05/24 16:48:03 INFO: [Worker 0] Successfully saved trajectory data for house_375 in 3.87s (batch: 3.76s, save: 0.11s) [pipeline.py: 280] +05/24 16:48:03 WARNING: [Worker 0] No trajectory data to save for house_375 [pipeline.py: 229] +05/24 16:48:03 INFO: [Worker 0] Worker 0 completed house 375: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:48:03 INFO: [Worker 0] Worker 0 starting house 391 (index 33/84) [pipeline.py: 473] +05/24 16:48:03 INFO: [Worker 0] Loaded 2 episodes for house 391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:48:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:48:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml [task_sampler.py: 797] +05/24 16:48:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:48:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:48:10 INFO: [Worker 0] randomize_scene: Setting poses for 105 objects [json_eval_task_sampler.py: 686] +05/24 16:48:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:48:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:48:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:48:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:48:10 INFO: [Worker 0] Sampled task 'Pick up the green tissue box rectangular' [task_sampler.py: 1136] +05/24 16:48:10 INFO: [Worker 0] Worker 0 house 391 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:48:11 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:48:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:48:24 INFO: [Worker 0] Worker 0 house 391 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:48:27 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:48:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml [task_sampler.py: 797] +05/24 16:48:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:48:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:48:34 INFO: [Worker 0] randomize_scene: Setting poses for 105 objects [json_eval_task_sampler.py: 686] +05/24 16:48:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:48:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:48:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:48:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:48:34 INFO: [Worker 0] Sampled task 'Pick up the blue soap bottle' [task_sampler.py: 1136] +05/24 16:48:34 INFO: [Worker 0] Worker 0 house 391 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:48:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:50:13 INFO: [Worker 0] Worker 0 house 391 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False [pipeline.py: 1114] +05/24 16:50:16 INFO: [Worker 0] Batching and saving trajectory data for house_391: 2 episodes [pipeline.py: 233] +05/24 16:50:16 INFO: [Worker 0] Preparing episode data: 62 timesteps [save_utils.py: 284] +05/24 16:50:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:50:19 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:50:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:50:20 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391 [save_utils.py: 703] +05/24 16:50:20 INFO: [Worker 0] Successfully saved trajectory data for house_391 in 3.88s (batch: 3.77s, save: 0.11s) [pipeline.py: 280] +05/24 16:50:20 WARNING: [Worker 0] No trajectory data to save for house_391 [pipeline.py: 229] +05/24 16:50:20 INFO: [Worker 0] Worker 0 completed house 391: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:50:20 INFO: [Worker 0] Worker 0 starting house 404 (index 34/84) [pipeline.py: 473] +05/24 16:50:20 INFO: [Worker 0] Loaded 1 episodes for house 404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:50:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:50:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_404_ceiling.xml [task_sampler.py: 797] +05/24 16:50:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=404, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:50:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:50:25 INFO: [Worker 0] randomize_scene: Setting poses for 69 objects [json_eval_task_sampler.py: 686] +05/24 16:50:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:50:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:50:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:50:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:50:25 INFO: [Worker 0] Sampled task 'Pick up the slim black remote control' [task_sampler.py: 1136] +05/24 16:50:25 INFO: [Worker 0] Worker 0 house 404 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:50:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:51:55 INFO: [Worker 0] Worker 0 house 404 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:51:57 INFO: [Worker 0] Batching and saving trajectory data for house_404: 1 episodes [pipeline.py: 233] +05/24 16:51:57 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:51:59 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:51:59 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_404 [save_utils.py: 703] +05/24 16:51:59 INFO: [Worker 0] Successfully saved trajectory data for house_404 in 2.02s (batch: 1.93s, save: 0.08s) [pipeline.py: 280] +05/24 16:52:00 WARNING: [Worker 0] No trajectory data to save for house_404 [pipeline.py: 229] +05/24 16:52:00 INFO: [Worker 0] Worker 0 completed house 404: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:52:00 INFO: [Worker 0] Worker 0 starting house 417 (index 35/84) [pipeline.py: 473] +05/24 16:52:00 INFO: [Worker 0] Loaded 2 episodes for house 417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:52:00 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:52:01 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml [task_sampler.py: 797] +05/24 16:52:01 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:52:01 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:52:01 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/24 16:52:01 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:52:01 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:52:01 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:52:01 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:52:01 INFO: [Worker 0] Sampled task 'Pick up the white ceramic mug' [task_sampler.py: 1136] +05/24 16:52:01 INFO: [Worker 0] Worker 0 house 417 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:52:01 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:52:02 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:52:09 INFO: [Worker 0] Worker 0 house 417 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:52:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:52:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml [task_sampler.py: 797] +05/24 16:52:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:52:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:52:14 INFO: [Worker 0] randomize_scene: Setting poses for 10 objects [json_eval_task_sampler.py: 686] +05/24 16:52:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:52:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:52:14 INFO: [Worker 0] Sampled task 'Pick up the translucent glass bowl' [task_sampler.py: 1136] +05/24 16:52:14 INFO: [Worker 0] Worker 0 house 417 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:52:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:52:15 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:53:17 INFO: [Worker 0] Worker 0 house 417 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 16:53:19 INFO: [Worker 0] Batching and saving trajectory data for house_417: 2 episodes [pipeline.py: 233] +05/24 16:53:19 INFO: [Worker 0] Preparing episode data: 56 timesteps [save_utils.py: 284] +05/24 16:53:21 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:53:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:53:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:53:23 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417 [save_utils.py: 703] +05/24 16:53:23 INFO: [Worker 0] Successfully saved trajectory data for house_417 in 4.00s (batch: 3.89s, save: 0.11s) [pipeline.py: 280] +05/24 16:53:24 WARNING: [Worker 0] No trajectory data to save for house_417 [pipeline.py: 229] +05/24 16:53:24 INFO: [Worker 0] Worker 0 completed house 417: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:53:24 INFO: [Worker 0] Worker 0 starting house 424 (index 36/84) [pipeline.py: 473] +05/24 16:53:24 INFO: [Worker 0] Loaded 1 episodes for house 424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:53:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:53:29 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_424_ceiling.xml [task_sampler.py: 797] +05/24 16:53:29 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=424, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:53:29 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:53:29 INFO: [Worker 0] randomize_scene: Setting poses for 86 objects [json_eval_task_sampler.py: 686] +05/24 16:53:29 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:53:29 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:53:29 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:53:29 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:53:29 INFO: [Worker 0] Sampled task 'Pick up the dark teal box' [task_sampler.py: 1136] +05/24 16:53:29 INFO: [Worker 0] Worker 0 house 424 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:53:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:54:58 INFO: [Worker 0] Worker 0 house 424 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=False [pipeline.py: 1114] +05/24 16:55:01 INFO: [Worker 0] Batching and saving trajectory data for house_424: 1 episodes [pipeline.py: 233] +05/24 16:55:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:55:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:55:04 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_424 [save_utils.py: 703] +05/24 16:55:04 INFO: [Worker 0] Successfully saved trajectory data for house_424 in 2.57s (batch: 2.44s, save: 0.12s) [pipeline.py: 280] +05/24 16:55:04 WARNING: [Worker 0] No trajectory data to save for house_424 [pipeline.py: 229] +05/24 16:55:04 INFO: [Worker 0] Worker 0 completed house 424: 0/1 successful episodes [pipeline.py: 1243] +05/24 16:55:04 INFO: [Worker 0] Worker 0 starting house 441 (index 37/84) [pipeline.py: 473] +05/24 16:55:04 INFO: [Worker 0] Loaded 1 episodes for house 441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:55:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:55:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_441_ceiling.xml [task_sampler.py: 797] +05/24 16:55:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=441, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:55:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:55:07 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/24 16:55:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:55:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:55:07 INFO: [Worker 0] Sampled task 'Pick up the matte black ceramic mug' [task_sampler.py: 1136] +05/24 16:55:07 INFO: [Worker 0] Worker 0 house 441 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 16:55:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:55:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:55:14 INFO: [Worker 0] Worker 0 house 441 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 16:55:17 INFO: [Worker 0] Batching and saving trajectory data for house_441: 1 episodes [pipeline.py: 233] +05/24 16:55:17 INFO: [Worker 0] Preparing episode data: 43 timesteps [save_utils.py: 284] +05/24 16:55:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:55:20 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_441 [save_utils.py: 703] +05/24 16:55:20 INFO: [Worker 0] Successfully saved trajectory data for house_441 in 2.27s (batch: 2.24s, save: 0.03s) [pipeline.py: 280] +05/24 16:55:20 WARNING: [Worker 0] No trajectory data to save for house_441 [pipeline.py: 229] +05/24 16:55:20 INFO: [Worker 0] Worker 0 completed house 441: 1/1 successful episodes [pipeline.py: 1243] +05/24 16:55:20 INFO: [Worker 0] Worker 0 starting house 445 (index 38/84) [pipeline.py: 473] +05/24 16:55:20 INFO: [Worker 0] Loaded 2 episodes for house 445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:55:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:55:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml [task_sampler.py: 797] +05/24 16:55:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:55:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:55:24 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/24 16:55:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:55:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:55:24 INFO: [Worker 0] Sampled task 'Pick up the yellow knife' [task_sampler.py: 1136] +05/24 16:55:24 INFO: [Worker 0] Worker 0 house 445 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:55:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:55:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:56:45 INFO: [Worker 0] Worker 0 house 445 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:56:48 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:56:52 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml [task_sampler.py: 797] +05/24 16:56:52 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:56:52 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:56:52 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/24 16:56:52 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:56:52 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:56:52 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:56:52 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:56:52 INFO: [Worker 0] Sampled task 'Pick up the slim black remote with buttons' [task_sampler.py: 1136] +05/24 16:56:52 INFO: [Worker 0] Worker 0 house 445 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:56:52 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:56:53 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:57:15 INFO: [Worker 0] Worker 0 house 445 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 16:57:18 INFO: [Worker 0] Batching and saving trajectory data for house_445: 2 episodes [pipeline.py: 233] +05/24 16:57:18 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 16:57:20 INFO: [Worker 0] Preparing episode data: 126 timesteps [save_utils.py: 284] +05/24 16:57:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:57:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 16:57:23 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445 [save_utils.py: 703] +05/24 16:57:23 INFO: [Worker 0] Successfully saved trajectory data for house_445 in 4.74s (batch: 4.62s, save: 0.12s) [pipeline.py: 280] +05/24 16:57:23 WARNING: [Worker 0] No trajectory data to save for house_445 [pipeline.py: 229] +05/24 16:57:23 INFO: [Worker 0] Worker 0 completed house 445: 1/2 successful episodes [pipeline.py: 1243] +05/24 16:57:23 INFO: [Worker 0] Worker 0 starting house 472 (index 39/84) [pipeline.py: 473] +05/24 16:57:23 INFO: [Worker 0] Loaded 2 episodes for house 472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 16:57:23 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:57:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml [task_sampler.py: 797] +05/24 16:57:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:57:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:57:26 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/24 16:57:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:57:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:57:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:57:26 INFO: [Worker 0] Sampled task 'Pick up the golden pump soap bottle' [task_sampler.py: 1136] +05/24 16:57:26 INFO: [Worker 0] Worker 0 house 472 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 16:57:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:57:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:58:39 INFO: [Worker 0] Worker 0 house 472 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:58:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 16:58:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml [task_sampler.py: 797] +05/24 16:58:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 16:58:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 16:58:45 INFO: [Worker 0] randomize_scene: Setting poses for 34 objects [json_eval_task_sampler.py: 686] +05/24 16:58:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 16:58:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 16:58:45 INFO: [Worker 0] Sampled task 'Pick up the ripe red tomato with stem' [task_sampler.py: 1136] +05/24 16:58:45 INFO: [Worker 0] Worker 0 house 472 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 16:58:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 16:58:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 16:59:55 INFO: [Worker 0] Worker 0 house 472 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 16:59:59 INFO: [Worker 0] Batching and saving trajectory data for house_472: 2 episodes [pipeline.py: 233] +05/24 16:59:59 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:00:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:00:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:00:04 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:00:04 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472 [save_utils.py: 703] +05/24 17:00:04 INFO: [Worker 0] Successfully saved trajectory data for house_472 in 5.01s (batch: 4.83s, save: 0.17s) [pipeline.py: 280] +05/24 17:00:04 WARNING: [Worker 0] No trajectory data to save for house_472 [pipeline.py: 229] +05/24 17:00:04 INFO: [Worker 0] Worker 0 completed house 472: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:00:04 INFO: [Worker 0] Worker 0 starting house 478 (index 40/84) [pipeline.py: 473] +05/24 17:00:04 INFO: [Worker 0] Loaded 1 episodes for house 478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:00:04 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:00:06 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_478_ceiling.xml [task_sampler.py: 797] +05/24 17:00:06 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=478, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:00:06 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:00:06 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/24 17:00:06 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:00:06 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:00:06 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:00:06 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:00:06 INFO: [Worker 0] Sampled task 'Pick up the orange conical spray bottle with nozzle' [task_sampler.py: 1136] +05/24 17:00:06 INFO: [Worker 0] Worker 0 house 478 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:00:06 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:00:06 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:01:12 INFO: [Worker 0] Worker 0 house 478 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3 completed with success=False [pipeline.py: 1114] +05/24 17:01:15 INFO: [Worker 0] Batching and saving trajectory data for house_478: 1 episodes [pipeline.py: 233] +05/24 17:01:15 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:01:18 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:01:18 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_478 [save_utils.py: 703] +05/24 17:01:18 INFO: [Worker 0] Successfully saved trajectory data for house_478 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/24 17:01:18 WARNING: [Worker 0] No trajectory data to save for house_478 [pipeline.py: 229] +05/24 17:01:18 INFO: [Worker 0] Worker 0 completed house 478: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:01:18 INFO: [Worker 0] Worker 0 starting house 494 (index 41/84) [pipeline.py: 473] +05/24 17:01:18 INFO: [Worker 0] Loaded 1 episodes for house 494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:01:18 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:01:21 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_494_ceiling.xml [task_sampler.py: 797] +05/24 17:01:21 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=494, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:01:21 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:01:21 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/24 17:01:21 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:01:21 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:01:21 INFO: [Worker 0] Sampled task 'Pick up the blue cooking pot with handles' [task_sampler.py: 1136] +05/24 17:01:21 INFO: [Worker 0] Worker 0 house 494 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:01:21 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:01:22 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:01:29 INFO: [Worker 0] Worker 0 house 494 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:01:32 INFO: [Worker 0] Batching and saving trajectory data for house_494: 1 episodes [pipeline.py: 233] +05/24 17:01:32 INFO: [Worker 0] Preparing episode data: 49 timesteps [save_utils.py: 284] +05/24 17:01:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:01:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_494 [save_utils.py: 703] +05/24 17:01:34 INFO: [Worker 0] Successfully saved trajectory data for house_494 in 2.26s (batch: 2.23s, save: 0.03s) [pipeline.py: 280] +05/24 17:01:35 WARNING: [Worker 0] No trajectory data to save for house_494 [pipeline.py: 229] +05/24 17:01:35 INFO: [Worker 0] Worker 0 completed house 494: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:01:35 INFO: [Worker 0] Worker 0 starting house 508 (index 42/84) [pipeline.py: 473] +05/24 17:01:35 INFO: [Worker 0] Loaded 2 episodes for house 508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:01:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:01:38 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml [task_sampler.py: 797] +05/24 17:01:38 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:01:38 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:01:38 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:01:38 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:01:38 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:01:38 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:01:38 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:01:38 INFO: [Worker 0] Sampled task 'Pick up the shiny silver kettle' [task_sampler.py: 1136] +05/24 17:01:38 INFO: [Worker 0] Worker 0 house 508 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:01:38 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:01:39 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:02:00 INFO: [Worker 0] Worker 0 house 508 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:02:03 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:02:07 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml [task_sampler.py: 797] +05/24 17:02:07 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:02:07 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:02:07 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:02:07 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:02:07 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:02:07 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:02:07 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:02:07 INFO: [Worker 0] Sampled task 'Pick up the kitchen spatula' [task_sampler.py: 1136] +05/24 17:02:07 INFO: [Worker 0] Worker 0 house 508 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:02:07 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:02:07 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:03:31 INFO: [Worker 0] Worker 0 house 508 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:03:34 INFO: [Worker 0] Batching and saving trajectory data for house_508: 2 episodes [pipeline.py: 233] +05/24 17:03:34 INFO: [Worker 0] Preparing episode data: 121 timesteps [save_utils.py: 284] +05/24 17:03:36 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:03:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:03:38 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:03:38 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508 [save_utils.py: 703] +05/24 17:03:38 INFO: [Worker 0] Successfully saved trajectory data for house_508 in 3.90s (batch: 3.79s, save: 0.12s) [pipeline.py: 280] +05/24 17:03:38 WARNING: [Worker 0] No trajectory data to save for house_508 [pipeline.py: 229] +05/24 17:03:38 INFO: [Worker 0] Worker 0 completed house 508: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:03:38 INFO: [Worker 0] Worker 0 starting house 511 (index 43/84) [pipeline.py: 473] +05/24 17:03:38 INFO: [Worker 0] Loaded 1 episodes for house 511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:03:38 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:03:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_511_ceiling.xml [task_sampler.py: 797] +05/24 17:03:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=511, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:03:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:03:45 INFO: [Worker 0] randomize_scene: Setting poses for 97 objects [json_eval_task_sampler.py: 686] +05/24 17:03:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:03:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:03:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:03:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:03:45 INFO: [Worker 0] Sampled task 'Pick up the light brown bowl' [task_sampler.py: 1136] +05/24 17:03:45 INFO: [Worker 0] Worker 0 house 511 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:03:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:03:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:05:17 INFO: [Worker 0] Worker 0 house 511 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=False [pipeline.py: 1114] +05/24 17:05:19 INFO: [Worker 0] Batching and saving trajectory data for house_511: 1 episodes [pipeline.py: 233] +05/24 17:05:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:05:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:05:22 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_511 [save_utils.py: 703] +05/24 17:05:22 INFO: [Worker 0] Successfully saved trajectory data for house_511 in 2.04s (batch: 1.96s, save: 0.09s) [pipeline.py: 280] +05/24 17:05:22 WARNING: [Worker 0] No trajectory data to save for house_511 [pipeline.py: 229] +05/24 17:05:22 INFO: [Worker 0] Worker 0 completed house 511: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:05:22 INFO: [Worker 0] Worker 0 starting house 527 (index 44/84) [pipeline.py: 473] +05/24 17:05:22 INFO: [Worker 0] Loaded 1 episodes for house 527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:05:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:05:23 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_527_ceiling.xml [task_sampler.py: 797] +05/24 17:05:23 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=527, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:05:23 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:05:23 INFO: [Worker 0] randomize_scene: Setting poses for 15 objects [json_eval_task_sampler.py: 686] +05/24 17:05:23 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:05:23 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:05:23 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:05:23 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:05:23 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 17:05:23 INFO: [Worker 0] Worker 0 house 527 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:05:23 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:05:24 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:06:29 INFO: [Worker 0] Worker 0 house 527 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:06:32 INFO: [Worker 0] Batching and saving trajectory data for house_527: 1 episodes [pipeline.py: 233] +05/24 17:06:32 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:06:34 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:06:34 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_527 [save_utils.py: 703] +05/24 17:06:34 INFO: [Worker 0] Successfully saved trajectory data for house_527 in 2.03s (batch: 1.94s, save: 0.09s) [pipeline.py: 280] +05/24 17:06:34 WARNING: [Worker 0] No trajectory data to save for house_527 [pipeline.py: 229] +05/24 17:06:34 INFO: [Worker 0] Worker 0 completed house 527: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:06:34 INFO: [Worker 0] Worker 0 starting house 537 (index 45/84) [pipeline.py: 473] +05/24 17:06:34 INFO: [Worker 0] Loaded 2 episodes for house 537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:06:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:06:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml [task_sampler.py: 797] +05/24 17:06:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:06:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:06:40 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/24 17:06:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:06:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:06:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:06:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:06:40 INFO: [Worker 0] Sampled task 'Pick up the container' [task_sampler.py: 1136] +05/24 17:06:40 INFO: [Worker 0] Worker 0 house 537 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:06:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:06:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:08:07 INFO: [Worker 0] Worker 0 house 537 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:08:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:08:15 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml [task_sampler.py: 797] +05/24 17:08:15 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:08:15 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:08:15 INFO: [Worker 0] randomize_scene: Setting poses for 83 objects [json_eval_task_sampler.py: 686] +05/24 17:08:15 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:08:15 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:08:15 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:08:15 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:08:15 INFO: [Worker 0] Sampled task 'Pick up the metal spoon' [task_sampler.py: 1136] +05/24 17:08:15 INFO: [Worker 0] Worker 0 house 537 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:08:15 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:08:16 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:08:23 INFO: [Worker 0] Worker 0 house 537 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:08:26 INFO: [Worker 0] Batching and saving trajectory data for house_537: 2 episodes [pipeline.py: 233] +05/24 17:08:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:08:28 INFO: [Worker 0] Preparing episode data: 41 timesteps [save_utils.py: 284] +05/24 17:08:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:08:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:08:30 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537 [save_utils.py: 703] +05/24 17:08:30 INFO: [Worker 0] Successfully saved trajectory data for house_537 in 3.78s (batch: 3.67s, save: 0.10s) [pipeline.py: 280] +05/24 17:08:30 WARNING: [Worker 0] No trajectory data to save for house_537 [pipeline.py: 229] +05/24 17:08:30 INFO: [Worker 0] Worker 0 completed house 537: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:08:30 INFO: [Worker 0] Worker 0 starting house 550 (index 46/84) [pipeline.py: 473] +05/24 17:08:30 INFO: [Worker 0] Loaded 2 episodes for house 550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:08:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:08:33 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml [task_sampler.py: 797] +05/24 17:08:33 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:08:33 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:08:33 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/24 17:08:33 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:08:33 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:08:33 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:08:33 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:08:33 INFO: [Worker 0] Sampled task 'Pick up the glossy beige ceramic mug with handle' [task_sampler.py: 1136] +05/24 17:08:33 INFO: [Worker 0] Worker 0 house 550 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:08:33 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:08:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:08:43 INFO: [Worker 0] Worker 0 house 550 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:08:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:08:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml [task_sampler.py: 797] +05/24 17:08:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:08:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:08:49 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/24 17:08:49 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/24 17:08:49 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:08:49 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:08:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:08:49 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:08:49 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:08:49 INFO: [Worker 0] Sampled task 'Pick up the open brown cardboard box' [task_sampler.py: 1136] +05/24 17:08:49 INFO: [Worker 0] Worker 0 house 550 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:08:49 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:08:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:08:58 INFO: [Worker 0] Worker 0 house 550 episode 1 object box_54d3d4baf11286a2a524395e4a26c893_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:09:02 INFO: [Worker 0] Batching and saving trajectory data for house_550: 2 episodes [pipeline.py: 233] +05/24 17:09:02 INFO: [Worker 0] Preparing episode data: 55 timesteps [save_utils.py: 284] +05/24 17:09:04 INFO: [Worker 0] Preparing episode data: 47 timesteps [save_utils.py: 284] +05/24 17:09:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:09:07 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:09:07 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550 [save_utils.py: 703] +05/24 17:09:07 INFO: [Worker 0] Successfully saved trajectory data for house_550 in 4.85s (batch: 4.79s, save: 0.06s) [pipeline.py: 280] +05/24 17:09:07 WARNING: [Worker 0] No trajectory data to save for house_550 [pipeline.py: 229] +05/24 17:09:07 INFO: [Worker 0] Worker 0 completed house 550: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:09:07 INFO: [Worker 0] Worker 0 starting house 553 (index 47/84) [pipeline.py: 473] +05/24 17:09:07 INFO: [Worker 0] Loaded 1 episodes for house 553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:09:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:09:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_553_ceiling.xml [task_sampler.py: 797] +05/24 17:09:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=553, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:09:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:09:08 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/24 17:09:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:09:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:09:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:09:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:09:08 INFO: [Worker 0] Sampled task 'Pick up the gray wooden bowl' [task_sampler.py: 1136] +05/24 17:09:08 INFO: [Worker 0] Worker 0 house 553 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:09:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:09:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:09:15 INFO: [Worker 0] Worker 0 house 553 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:09:18 INFO: [Worker 0] Batching and saving trajectory data for house_553: 1 episodes [pipeline.py: 233] +05/24 17:09:18 INFO: [Worker 0] Preparing episode data: 46 timesteps [save_utils.py: 284] +05/24 17:09:21 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:09:21 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_553 [save_utils.py: 703] +05/24 17:09:21 INFO: [Worker 0] Successfully saved trajectory data for house_553 in 2.27s (batch: 2.24s, save: 0.03s) [pipeline.py: 280] +05/24 17:09:21 WARNING: [Worker 0] No trajectory data to save for house_553 [pipeline.py: 229] +05/24 17:09:21 INFO: [Worker 0] Worker 0 completed house 553: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:09:21 INFO: [Worker 0] Worker 0 starting house 572 (index 48/84) [pipeline.py: 473] +05/24 17:09:21 INFO: [Worker 0] Loaded 1 episodes for house 572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:09:21 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:09:24 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_572_ceiling.xml [task_sampler.py: 797] +05/24 17:09:24 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=572, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:09:24 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:09:24 INFO: [Worker 0] randomize_scene: Setting poses for 35 objects [json_eval_task_sampler.py: 686] +05/24 17:09:24 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:09:24 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:09:24 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:09:24 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:09:24 INFO: [Worker 0] Sampled task 'Pick up the square glass pepper shaker' [task_sampler.py: 1136] +05/24 17:09:24 INFO: [Worker 0] Worker 0 house 572 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:09:24 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:09:25 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:10:40 INFO: [Worker 0] Worker 0 house 572 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:10:43 INFO: [Worker 0] Batching and saving trajectory data for house_572: 1 episodes [pipeline.py: 233] +05/24 17:10:43 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:10:45 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:10:45 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_572 [save_utils.py: 703] +05/24 17:10:45 INFO: [Worker 0] Successfully saved trajectory data for house_572 in 2.11s (batch: 2.02s, save: 0.09s) [pipeline.py: 280] +05/24 17:10:46 WARNING: [Worker 0] No trajectory data to save for house_572 [pipeline.py: 229] +05/24 17:10:46 INFO: [Worker 0] Worker 0 completed house 572: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:10:46 INFO: [Worker 0] Worker 0 starting house 575 (index 49/84) [pipeline.py: 473] +05/24 17:10:46 INFO: [Worker 0] Loaded 2 episodes for house 575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:10:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:10:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml [task_sampler.py: 797] +05/24 17:10:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:10:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:10:49 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/24 17:10:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:10:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:10:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:10:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:10:50 INFO: [Worker 0] Sampled task 'Pick up the dark green glass wine bottle' [task_sampler.py: 1136] +05/24 17:10:50 INFO: [Worker 0] Worker 0 house 575 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:10:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:10:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:11:11 INFO: [Worker 0] Worker 0 house 575 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:11:14 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:11:18 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml [task_sampler.py: 797] +05/24 17:11:18 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:11:18 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:11:18 INFO: [Worker 0] randomize_scene: Setting poses for 53 objects [json_eval_task_sampler.py: 686] +05/24 17:11:18 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:11:18 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:11:18 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:11:18 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:11:18 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 17:11:18 INFO: [Worker 0] Worker 0 house 575 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:11:18 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:11:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:12:38 INFO: [Worker 0] Worker 0 house 575 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:12:42 INFO: [Worker 0] Batching and saving trajectory data for house_575: 2 episodes [pipeline.py: 233] +05/24 17:12:42 INFO: [Worker 0] Preparing episode data: 112 timesteps [save_utils.py: 284] +05/24 17:12:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:12:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:12:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:12:46 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575 [save_utils.py: 703] +05/24 17:12:46 INFO: [Worker 0] Successfully saved trajectory data for house_575 in 4.81s (batch: 4.69s, save: 0.12s) [pipeline.py: 280] +05/24 17:12:47 WARNING: [Worker 0] No trajectory data to save for house_575 [pipeline.py: 229] +05/24 17:12:47 INFO: [Worker 0] Worker 0 completed house 575: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:12:47 INFO: [Worker 0] Worker 0 starting house 589 (index 50/84) [pipeline.py: 473] +05/24 17:12:47 INFO: [Worker 0] Loaded 2 episodes for house 589 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:12:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:12:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml [task_sampler.py: 797] +05/24 17:12:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:12:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:12:48 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/24 17:12:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:12:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:12:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:12:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:12:48 INFO: [Worker 0] Sampled task 'Pick up the spoon' [task_sampler.py: 1136] +05/24 17:12:48 INFO: [Worker 0] Worker 0 house 589 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:12:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:12:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:13:55 INFO: [Worker 0] Worker 0 house 589 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:13:57 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:13:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml [task_sampler.py: 797] +05/24 17:13:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:13:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:13:59 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/24 17:13:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:13:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:13:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:13:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:13:59 INFO: [Worker 0] Sampled task 'Pick up the cutlery' [task_sampler.py: 1136] +05/24 17:13:59 INFO: [Worker 0] Worker 0 house 589 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:13:59 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:13:59 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:14:15 INFO: [Worker 0] Worker 0 house 589 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:14:19 INFO: [Worker 0] Batching and saving trajectory data for house_589: 2 episodes [pipeline.py: 233] +05/24 17:14:19 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:14:21 INFO: [Worker 0] Preparing episode data: 112 timesteps [save_utils.py: 284] +05/24 17:14:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:14:23 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:14:23 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589 [save_utils.py: 703] +05/24 17:14:23 INFO: [Worker 0] Successfully saved trajectory data for house_589 in 4.79s (batch: 4.67s, save: 0.12s) [pipeline.py: 280] +05/24 17:14:24 WARNING: [Worker 0] No trajectory data to save for house_589 [pipeline.py: 229] +05/24 17:14:24 INFO: [Worker 0] Worker 0 completed house 589: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:14:24 INFO: [Worker 0] Worker 0 starting house 595 (index 51/84) [pipeline.py: 473] +05/24 17:14:24 INFO: [Worker 0] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:14:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:14:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_595_ceiling.xml [task_sampler.py: 797] +05/24 17:14:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=595, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:14:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:14:26 INFO: [Worker 0] randomize_scene: Setting poses for 17 objects [json_eval_task_sampler.py: 686] +05/24 17:14:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:14:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:14:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:14:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:14:26 INFO: [Worker 0] Sampled task 'Pick up the slim black remote with buttons' [task_sampler.py: 1136] +05/24 17:14:26 INFO: [Worker 0] Worker 0 house 595 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:14:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:14:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:14:38 INFO: [Worker 0] Worker 0 house 595 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:14:41 INFO: [Worker 0] Batching and saving trajectory data for house_595: 1 episodes [pipeline.py: 233] +05/24 17:14:41 INFO: [Worker 0] Preparing episode data: 89 timesteps [save_utils.py: 284] +05/24 17:14:44 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:14:44 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_595 [save_utils.py: 703] +05/24 17:14:44 INFO: [Worker 0] Successfully saved trajectory data for house_595 in 2.21s (batch: 2.18s, save: 0.03s) [pipeline.py: 280] +05/24 17:14:44 WARNING: [Worker 0] No trajectory data to save for house_595 [pipeline.py: 229] +05/24 17:14:44 INFO: [Worker 0] Worker 0 completed house 595: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:14:44 INFO: [Worker 0] Worker 0 starting house 614 (index 52/84) [pipeline.py: 473] +05/24 17:14:44 INFO: [Worker 0] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:14:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:14:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_614_ceiling.xml [task_sampler.py: 797] +05/24 17:14:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=614, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:14:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:14:45 INFO: [Worker 0] randomize_scene: Setting poses for 8 objects [json_eval_task_sampler.py: 686] +05/24 17:14:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:14:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:14:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:14:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:14:45 INFO: [Worker 0] Sampled task 'Pick up the means' [task_sampler.py: 1136] +05/24 17:14:45 INFO: [Worker 0] Worker 0 house 614 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:14:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:15:37 INFO: [Worker 0] Worker 0 house 614 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:15:40 INFO: [Worker 0] Batching and saving trajectory data for house_614: 1 episodes [pipeline.py: 233] +05/24 17:15:40 INFO: [Worker 0] Preparing episode data: 360 timesteps [save_utils.py: 284] +05/24 17:15:42 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:15:42 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_614 [save_utils.py: 703] +05/24 17:15:42 INFO: [Worker 0] Successfully saved trajectory data for house_614 in 2.02s (batch: 1.94s, save: 0.08s) [pipeline.py: 280] +05/24 17:15:43 WARNING: [Worker 0] No trajectory data to save for house_614 [pipeline.py: 229] +05/24 17:15:43 INFO: [Worker 0] Worker 0 completed house 614: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:15:43 INFO: [Worker 0] Worker 0 starting house 626 (index 53/84) [pipeline.py: 473] +05/24 17:15:43 INFO: [Worker 0] Loaded 2 episodes for house 626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:15:43 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:15:46 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml [task_sampler.py: 797] +05/24 17:15:46 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:15:46 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:15:46 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/24 17:15:46 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:15:46 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:15:46 INFO: [Worker 0] Sampled task 'Pick up the matte blue bowl' [task_sampler.py: 1136] +05/24 17:15:46 INFO: [Worker 0] Worker 0 house 626 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:15:46 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:15:47 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:15:56 INFO: [Worker 0] Worker 0 house 626 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_5 completed with success=True [pipeline.py: 1114] +05/24 17:15:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:16:02 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml [task_sampler.py: 797] +05/24 17:16:02 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:16:02 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:16:02 INFO: [Worker 0] randomize_scene: Setting poses for 58 objects [json_eval_task_sampler.py: 686] +05/24 17:16:02 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:16:02 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:16:02 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:16:02 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:16:02 INFO: [Worker 0] Sampled task 'Pick up the table knife' [task_sampler.py: 1136] +05/24 17:16:02 INFO: [Worker 0] Worker 0 house 626 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:16:02 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:16:03 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:16:15 INFO: [Worker 0] Worker 0 house 626 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:16:18 INFO: [Worker 0] Batching and saving trajectory data for house_626: 2 episodes [pipeline.py: 233] +05/24 17:16:18 INFO: [Worker 0] Preparing episode data: 56 timesteps [save_utils.py: 284] +05/24 17:16:20 INFO: [Worker 0] Preparing episode data: 75 timesteps [save_utils.py: 284] +05/24 17:16:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:16:22 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:16:22 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626 [save_utils.py: 703] +05/24 17:16:22 INFO: [Worker 0] Successfully saved trajectory data for house_626 in 3.61s (batch: 3.55s, save: 0.06s) [pipeline.py: 280] +05/24 17:16:22 WARNING: [Worker 0] No trajectory data to save for house_626 [pipeline.py: 229] +05/24 17:16:22 INFO: [Worker 0] Worker 0 completed house 626: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:16:22 INFO: [Worker 0] Worker 0 starting house 640 (index 54/84) [pipeline.py: 473] +05/24 17:16:22 INFO: [Worker 0] Loaded 2 episodes for house 640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:16:22 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:16:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml [task_sampler.py: 797] +05/24 17:16:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:16:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:16:26 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:16:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:16:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:16:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:16:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:16:26 INFO: [Worker 0] Sampled task 'Pick up the soap dispenser' [task_sampler.py: 1136] +05/24 17:16:26 INFO: [Worker 0] Worker 0 house 640 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:16:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:16:26 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:17:38 INFO: [Worker 0] Worker 0 house 640 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:17:42 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:17:45 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml [task_sampler.py: 797] +05/24 17:17:45 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:17:45 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:17:45 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:17:45 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:17:45 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:17:45 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:17:45 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:17:45 INFO: [Worker 0] Sampled task 'Pick up the translucent plastic cup' [task_sampler.py: 1136] +05/24 17:17:45 INFO: [Worker 0] Worker 0 house 640 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:17:45 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:17:46 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:18:59 INFO: [Worker 0] Worker 0 house 640 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:19:01 INFO: [Worker 0] Batching and saving trajectory data for house_640: 2 episodes [pipeline.py: 233] +05/24 17:19:01 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:19:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:19:06 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:19:06 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640 [save_utils.py: 703] +05/24 17:19:06 INFO: [Worker 0] Successfully saved trajectory data for house_640 in 4.13s (batch: 3.93s, save: 0.19s) [pipeline.py: 280] +05/24 17:19:06 WARNING: [Worker 0] No trajectory data to save for house_640 [pipeline.py: 229] +05/24 17:19:06 INFO: [Worker 0] Worker 0 completed house 640: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:19:06 INFO: [Worker 0] Worker 0 starting house 642 (index 55/84) [pipeline.py: 473] +05/24 17:19:06 INFO: [Worker 0] Loaded 1 episodes for house 642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:19:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:19:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_642_ceiling.xml [task_sampler.py: 797] +05/24 17:19:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=642, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:19:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:19:08 INFO: [Worker 0] randomize_scene: Setting poses for 33 objects [json_eval_task_sampler.py: 686] +05/24 17:19:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:19:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:19:08 INFO: [Worker 0] Sampled task 'Pick up the transparent pepper shaker' [task_sampler.py: 1136] +05/24 17:19:08 INFO: [Worker 0] Worker 0 house 642 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:19:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:19:19 INFO: [Worker 0] Worker 0 house 642 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:19:22 INFO: [Worker 0] Batching and saving trajectory data for house_642: 1 episodes [pipeline.py: 233] +05/24 17:19:22 INFO: [Worker 0] Preparing episode data: 65 timesteps [save_utils.py: 284] +05/24 17:19:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:19:24 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_642 [save_utils.py: 703] +05/24 17:19:24 INFO: [Worker 0] Successfully saved trajectory data for house_642 in 1.84s (batch: 1.81s, save: 0.03s) [pipeline.py: 280] +05/24 17:19:24 WARNING: [Worker 0] No trajectory data to save for house_642 [pipeline.py: 229] +05/24 17:19:24 INFO: [Worker 0] Worker 0 completed house 642: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:19:24 INFO: [Worker 0] Worker 0 starting house 665 (index 56/84) [pipeline.py: 473] +05/24 17:19:24 INFO: [Worker 0] Loaded 1 episodes for house 665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:19:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:19:27 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_665_ceiling.xml [task_sampler.py: 797] +05/24 17:19:27 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=665, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:19:27 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:19:27 INFO: [Worker 0] randomize_scene: Setting poses for 52 objects [json_eval_task_sampler.py: 686] +05/24 17:19:27 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:19:27 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:19:27 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:19:27 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:19:27 INFO: [Worker 0] Sampled task 'Pick up the orange conical spray bottle with nozzle' [task_sampler.py: 1136] +05/24 17:19:27 INFO: [Worker 0] Worker 0 house 665 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:19:27 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:19:28 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:20:44 INFO: [Worker 0] Worker 0 house 665 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:20:48 INFO: [Worker 0] Batching and saving trajectory data for house_665: 1 episodes [pipeline.py: 233] +05/24 17:20:48 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:20:50 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:20:50 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_665 [save_utils.py: 703] +05/24 17:20:50 INFO: [Worker 0] Successfully saved trajectory data for house_665 in 2.50s (batch: 2.41s, save: 0.09s) [pipeline.py: 280] +05/24 17:20:51 WARNING: [Worker 0] No trajectory data to save for house_665 [pipeline.py: 229] +05/24 17:20:51 INFO: [Worker 0] Worker 0 completed house 665: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:20:51 INFO: [Worker 0] Worker 0 starting house 669 (index 57/84) [pipeline.py: 473] +05/24 17:20:51 INFO: [Worker 0] Loaded 2 episodes for house 669 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:20:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:20:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml [task_sampler.py: 797] +05/24 17:20:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:20:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:20:55 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:20:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:20:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:20:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:20:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:20:55 INFO: [Worker 0] Sampled task 'Pick up the shiny metal ladle' [task_sampler.py: 1136] +05/24 17:20:55 INFO: [Worker 0] Worker 0 house 669 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:20:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:20:56 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:22:18 INFO: [Worker 0] Worker 0 house 669 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 17:22:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:22:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml [task_sampler.py: 797] +05/24 17:22:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:22:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:22:25 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:22:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:22:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:22:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:22:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:22:25 INFO: [Worker 0] Sampled task 'Pick up the rectangular green tissue box with tissues' [task_sampler.py: 1136] +05/24 17:22:25 INFO: [Worker 0] Worker 0 house 669 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:22:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:23:48 INFO: [Worker 0] Worker 0 house 669 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 17:23:51 INFO: [Worker 0] Batching and saving trajectory data for house_669: 2 episodes [pipeline.py: 233] +05/24 17:23:51 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:23:53 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:23:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:23:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:23:55 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669 [save_utils.py: 703] +05/24 17:23:55 INFO: [Worker 0] Successfully saved trajectory data for house_669 in 4.12s (batch: 3.96s, save: 0.16s) [pipeline.py: 280] +05/24 17:23:56 WARNING: [Worker 0] No trajectory data to save for house_669 [pipeline.py: 229] +05/24 17:23:56 INFO: [Worker 0] Worker 0 completed house 669: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:23:56 INFO: [Worker 0] Worker 0 starting house 688 (index 58/84) [pipeline.py: 473] +05/24 17:23:56 INFO: [Worker 0] Loaded 1 episodes for house 688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:23:56 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:23:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_688_ceiling.xml [task_sampler.py: 797] +05/24 17:23:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=688, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:23:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:23:57 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/24 17:23:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:23:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:23:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:23:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:23:57 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 17:23:57 INFO: [Worker 0] Worker 0 house 688 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:23:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:23:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:25:04 INFO: [Worker 0] Worker 0 house 688 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:25:08 INFO: [Worker 0] Batching and saving trajectory data for house_688: 1 episodes [pipeline.py: 233] +05/24 17:25:08 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:25:10 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:25:10 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_688 [save_utils.py: 703] +05/24 17:25:10 INFO: [Worker 0] Successfully saved trajectory data for house_688 in 2.48s (batch: 2.37s, save: 0.11s) [pipeline.py: 280] +05/24 17:25:11 WARNING: [Worker 0] No trajectory data to save for house_688 [pipeline.py: 229] +05/24 17:25:11 INFO: [Worker 0] Worker 0 completed house 688: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:25:11 INFO: [Worker 0] Worker 0 starting house 702 (index 59/84) [pipeline.py: 473] +05/24 17:25:11 INFO: [Worker 0] Loaded 1 episodes for house 702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:25:11 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:25:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_702_ceiling.xml [task_sampler.py: 797] +05/24 17:25:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=702, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:25:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:25:13 INFO: [Worker 0] randomize_scene: Setting poses for 50 objects [json_eval_task_sampler.py: 686] +05/24 17:25:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:25:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:25:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:25:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:25:13 INFO: [Worker 0] Sampled task 'Pick up the dark metallic cooking pot' [task_sampler.py: 1136] +05/24 17:25:13 INFO: [Worker 0] Worker 0 house 702 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:25:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:25:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:26:27 INFO: [Worker 0] Worker 0 house 702 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:26:30 INFO: [Worker 0] Batching and saving trajectory data for house_702: 1 episodes [pipeline.py: 233] +05/24 17:26:30 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:26:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:26:32 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_702 [save_utils.py: 703] +05/24 17:26:32 INFO: [Worker 0] Successfully saved trajectory data for house_702 in 2.03s (batch: 1.94s, save: 0.09s) [pipeline.py: 280] +05/24 17:26:32 WARNING: [Worker 0] No trajectory data to save for house_702 [pipeline.py: 229] +05/24 17:26:32 INFO: [Worker 0] Worker 0 completed house 702: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:26:32 INFO: [Worker 0] Worker 0 starting house 704 (index 60/84) [pipeline.py: 473] +05/24 17:26:32 INFO: [Worker 0] Loaded 2 episodes for house 704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:26:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:26:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml [task_sampler.py: 797] +05/24 17:26:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:26:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:26:37 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/24 17:26:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:26:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:26:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:26:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:26:37 INFO: [Worker 0] Sampled task 'Pick up the spatula' [task_sampler.py: 1136] +05/24 17:26:37 INFO: [Worker 0] Worker 0 house 704 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:26:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:28:06 INFO: [Worker 0] Worker 0 house 704 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 17:28:09 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:28:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml [task_sampler.py: 797] +05/24 17:28:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:28:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:28:14 INFO: [Worker 0] randomize_scene: Setting poses for 68 objects [json_eval_task_sampler.py: 686] +05/24 17:28:14 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/24 17:28:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:28:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:28:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:28:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:28:14 INFO: [Worker 0] Sampled task 'Pick up the light brown cardboard box with flaps' [task_sampler.py: 1136] +05/24 17:28:14 INFO: [Worker 0] Worker 0 house 704 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:28:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:28:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:29:44 INFO: [Worker 0] Worker 0 house 704 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_4 completed with success=False [pipeline.py: 1114] +05/24 17:29:47 INFO: [Worker 0] Batching and saving trajectory data for house_704: 2 episodes [pipeline.py: 233] +05/24 17:29:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:29:49 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:29:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:29:51 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:29:51 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704 [save_utils.py: 703] +05/24 17:29:51 INFO: [Worker 0] Successfully saved trajectory data for house_704 in 4.25s (batch: 4.07s, save: 0.18s) [pipeline.py: 280] +05/24 17:29:51 WARNING: [Worker 0] No trajectory data to save for house_704 [pipeline.py: 229] +05/24 17:29:51 INFO: [Worker 0] Worker 0 completed house 704: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:29:51 INFO: [Worker 0] Worker 0 starting house 724 (index 61/84) [pipeline.py: 473] +05/24 17:29:51 INFO: [Worker 0] Loaded 1 episodes for house 724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:29:51 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:29:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_724_ceiling.xml [task_sampler.py: 797] +05/24 17:29:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=724, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:29:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:29:57 INFO: [Worker 0] randomize_scene: Setting poses for 87 objects [json_eval_task_sampler.py: 686] +05/24 17:29:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:29:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:29:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:29:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:29:57 INFO: [Worker 0] Sampled task 'Pick up the light gray wooden bowl with rim' [task_sampler.py: 1136] +05/24 17:29:57 INFO: [Worker 0] Worker 0 house 724 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:29:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:29:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:30:10 INFO: [Worker 0] Worker 0 house 724 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_3 completed with success=True [pipeline.py: 1114] +05/24 17:30:13 INFO: [Worker 0] Batching and saving trajectory data for house_724: 1 episodes [pipeline.py: 233] +05/24 17:30:13 INFO: [Worker 0] Preparing episode data: 61 timesteps [save_utils.py: 284] +05/24 17:30:15 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:30:15 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_724 [save_utils.py: 703] +05/24 17:30:15 INFO: [Worker 0] Successfully saved trajectory data for house_724 in 1.83s (batch: 1.80s, save: 0.03s) [pipeline.py: 280] +05/24 17:30:15 WARNING: [Worker 0] No trajectory data to save for house_724 [pipeline.py: 229] +05/24 17:30:15 INFO: [Worker 0] Worker 0 completed house 724: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:30:15 INFO: [Worker 0] Worker 0 starting house 738 (index 62/84) [pipeline.py: 473] +05/24 17:30:15 INFO: [Worker 0] Loaded 2 episodes for house 738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:30:15 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:30:17 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml [task_sampler.py: 797] +05/24 17:30:17 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:30:17 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:30:17 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:30:17 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:30:17 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:30:17 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:30:17 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:30:17 INFO: [Worker 0] Sampled task 'Pick up the ripe red tomato with stem' [task_sampler.py: 1136] +05/24 17:30:17 INFO: [Worker 0] Worker 0 house 738 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:30:17 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:30:18 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:31:34 INFO: [Worker 0] Worker 0 house 738 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_2_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:31:37 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:31:39 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml [task_sampler.py: 797] +05/24 17:31:39 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:31:39 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:31:39 INFO: [Worker 0] randomize_scene: Setting poses for 47 objects [json_eval_task_sampler.py: 686] +05/24 17:31:39 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:31:39 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:31:39 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:31:39 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:31:39 INFO: [Worker 0] Sampled task 'Pick up the cutlery' [task_sampler.py: 1136] +05/24 17:31:39 INFO: [Worker 0] Worker 0 house 738 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:31:39 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:31:40 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:32:57 INFO: [Worker 0] Worker 0 house 738 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:33:00 INFO: [Worker 0] Batching and saving trajectory data for house_738: 2 episodes [pipeline.py: 233] +05/24 17:33:00 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:33:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:33:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:33:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:33:05 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738 [save_utils.py: 703] +05/24 17:33:05 INFO: [Worker 0] Successfully saved trajectory data for house_738 in 4.92s (batch: 4.75s, save: 0.17s) [pipeline.py: 280] +05/24 17:33:06 WARNING: [Worker 0] No trajectory data to save for house_738 [pipeline.py: 229] +05/24 17:33:06 INFO: [Worker 0] Worker 0 completed house 738: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:33:06 INFO: [Worker 0] Worker 0 starting house 749 (index 63/84) [pipeline.py: 473] +05/24 17:33:06 INFO: [Worker 0] Loaded 1 episodes for house 749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:33:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:33:08 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_749_ceiling.xml [task_sampler.py: 797] +05/24 17:33:08 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=749, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:33:08 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:33:08 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/24 17:33:08 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:33:08 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:33:08 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:33:08 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:33:08 INFO: [Worker 0] Sampled task 'Pick up the cooking utensil' [task_sampler.py: 1136] +05/24 17:33:08 INFO: [Worker 0] Worker 0 house 749 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:33:08 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:33:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:33:20 INFO: [Worker 0] Worker 0 house 749 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:33:23 INFO: [Worker 0] Batching and saving trajectory data for house_749: 1 episodes [pipeline.py: 233] +05/24 17:33:23 INFO: [Worker 0] Preparing episode data: 68 timesteps [save_utils.py: 284] +05/24 17:33:26 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:33:26 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_749 [save_utils.py: 703] +05/24 17:33:26 INFO: [Worker 0] Successfully saved trajectory data for house_749 in 2.23s (batch: 2.20s, save: 0.03s) [pipeline.py: 280] +05/24 17:33:26 WARNING: [Worker 0] No trajectory data to save for house_749 [pipeline.py: 229] +05/24 17:33:26 INFO: [Worker 0] Worker 0 completed house 749: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:33:26 INFO: [Worker 0] Worker 0 starting house 767 (index 64/84) [pipeline.py: 473] +05/24 17:33:26 INFO: [Worker 0] Loaded 1 episodes for house 767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:33:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:33:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_767_ceiling.xml [task_sampler.py: 797] +05/24 17:33:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=767, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:33:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:33:28 INFO: [Worker 0] randomize_scene: Setting poses for 27 objects [json_eval_task_sampler.py: 686] +05/24 17:33:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:33:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:33:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:33:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:33:28 INFO: [Worker 0] Sampled task 'Pick up the white ceramic mug with handle' [task_sampler.py: 1136] +05/24 17:33:28 INFO: [Worker 0] Worker 0 house 767 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:33:28 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:33:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:34:25 INFO: [Worker 0] Worker 0 house 767 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:34:29 INFO: [Worker 0] Batching and saving trajectory data for house_767: 1 episodes [pipeline.py: 233] +05/24 17:34:29 INFO: [Worker 0] Preparing episode data: 346 timesteps [save_utils.py: 284] +05/24 17:34:31 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:34:31 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_767 [save_utils.py: 703] +05/24 17:34:31 INFO: [Worker 0] Successfully saved trajectory data for house_767 in 2.46s (batch: 2.39s, save: 0.08s) [pipeline.py: 280] +05/24 17:34:32 WARNING: [Worker 0] No trajectory data to save for house_767 [pipeline.py: 229] +05/24 17:34:32 INFO: [Worker 0] Worker 0 completed house 767: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:34:32 INFO: [Worker 0] Worker 0 starting house 772 (index 65/84) [pipeline.py: 473] +05/24 17:34:32 INFO: [Worker 0] Loaded 2 episodes for house 772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:34:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:34:36 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml [task_sampler.py: 797] +05/24 17:34:36 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:34:36 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:34:36 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/24 17:34:36 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:34:36 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:34:36 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:34:36 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:34:36 INFO: [Worker 0] Sampled task 'Pick up the golden pump soap bottle' [task_sampler.py: 1136] +05/24 17:34:36 INFO: [Worker 0] Worker 0 house 772 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:34:36 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:34:37 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:34:56 INFO: [Worker 0] Worker 0 house 772 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:34:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:35:03 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml [task_sampler.py: 797] +05/24 17:35:03 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:35:03 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:35:03 INFO: [Worker 0] randomize_scene: Setting poses for 55 objects [json_eval_task_sampler.py: 686] +05/24 17:35:03 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:35:03 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:35:03 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:35:03 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:35:03 INFO: [Worker 0] Sampled task 'Pick up the spoon' [task_sampler.py: 1136] +05/24 17:35:03 INFO: [Worker 0] Worker 0 house 772 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:35:03 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:35:12 INFO: [Worker 0] Worker 0 house 772 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:35:15 INFO: [Worker 0] Batching and saving trajectory data for house_772: 2 episodes [pipeline.py: 233] +05/24 17:35:15 INFO: [Worker 0] Preparing episode data: 111 timesteps [save_utils.py: 284] +05/24 17:35:17 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 17:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:35:20 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:35:20 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772 [save_utils.py: 703] +05/24 17:35:20 INFO: [Worker 0] Successfully saved trajectory data for house_772 in 4.52s (batch: 4.46s, save: 0.06s) [pipeline.py: 280] +05/24 17:35:20 WARNING: [Worker 0] No trajectory data to save for house_772 [pipeline.py: 229] +05/24 17:35:20 INFO: [Worker 0] Worker 0 completed house 772: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:35:20 INFO: [Worker 0] Worker 0 starting house 788 (index 66/84) [pipeline.py: 473] +05/24 17:35:20 INFO: [Worker 0] Loaded 1 episodes for house 788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:35:20 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:35:25 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_788_ceiling.xml [task_sampler.py: 797] +05/24 17:35:25 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=788, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:35:25 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:35:25 INFO: [Worker 0] randomize_scene: Setting poses for 63 objects [json_eval_task_sampler.py: 686] +05/24 17:35:25 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:35:25 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:35:25 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:35:25 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:35:25 INFO: [Worker 0] Sampled task 'Pick up the dark-handled kitchen spatula' [task_sampler.py: 1136] +05/24 17:35:25 INFO: [Worker 0] Worker 0 house 788 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:35:25 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:36:49 INFO: [Worker 0] Worker 0 house 788 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:36:52 INFO: [Worker 0] Batching and saving trajectory data for house_788: 1 episodes [pipeline.py: 233] +05/24 17:36:52 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:36:54 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:36:54 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_788 [save_utils.py: 703] +05/24 17:36:54 INFO: [Worker 0] Successfully saved trajectory data for house_788 in 2.03s (batch: 1.94s, save: 0.09s) [pipeline.py: 280] +05/24 17:36:54 WARNING: [Worker 0] No trajectory data to save for house_788 [pipeline.py: 229] +05/24 17:36:54 INFO: [Worker 0] Worker 0 completed house 788: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:36:54 INFO: [Worker 0] Worker 0 starting house 804 (index 67/84) [pipeline.py: 473] +05/24 17:36:54 INFO: [Worker 0] Loaded 2 episodes for house 804 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:36:54 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:36:57 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml [task_sampler.py: 797] +05/24 17:36:57 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:36:57 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:36:57 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/24 17:36:57 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:36:57 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:36:57 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:36:57 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:36:57 INFO: [Worker 0] Sampled task 'Pick up the green tissue box rectangular' [task_sampler.py: 1136] +05/24 17:36:57 INFO: [Worker 0] Worker 0 house 804 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:36:57 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:36:58 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:38:10 INFO: [Worker 0] Worker 0 house 804 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False [pipeline.py: 1114] +05/24 17:38:13 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:38:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml [task_sampler.py: 797] +05/24 17:38:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:38:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:38:16 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/24 17:38:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:38:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:38:16 INFO: [Worker 0] Sampled task 'Pick up the light gray wooden bowl' [task_sampler.py: 1136] +05/24 17:38:16 INFO: [Worker 0] Worker 0 house 804 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:38:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:38:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:38:25 INFO: [Worker 0] Worker 0 house 804 episode 1 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:38:28 INFO: [Worker 0] Batching and saving trajectory data for house_804: 2 episodes [pipeline.py: 233] +05/24 17:38:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:38:30 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 17:38:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:38:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:38:32 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804 [save_utils.py: 703] +05/24 17:38:32 INFO: [Worker 0] Successfully saved trajectory data for house_804 in 3.84s (batch: 3.71s, save: 0.13s) [pipeline.py: 280] +05/24 17:38:32 WARNING: [Worker 0] No trajectory data to save for house_804 [pipeline.py: 229] +05/24 17:38:32 INFO: [Worker 0] Worker 0 completed house 804: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:38:32 INFO: [Worker 0] Worker 0 starting house 820 (index 68/84) [pipeline.py: 473] +05/24 17:38:32 INFO: [Worker 0] Loaded 1 episodes for house 820 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:38:32 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:38:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_820_ceiling.xml [task_sampler.py: 797] +05/24 17:38:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=820, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:38:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:38:34 INFO: [Worker 0] randomize_scene: Setting poses for 16 objects [json_eval_task_sampler.py: 686] +05/24 17:38:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:38:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:38:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:38:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:38:34 INFO: [Worker 0] Sampled task 'Pick up the ladle' [task_sampler.py: 1136] +05/24 17:38:34 INFO: [Worker 0] Worker 0 house 820 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:38:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:38:35 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:39:41 INFO: [Worker 0] Worker 0 house 820 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:39:44 INFO: [Worker 0] Batching and saving trajectory data for house_820: 1 episodes [pipeline.py: 233] +05/24 17:39:44 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:39:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:39:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_820 [save_utils.py: 703] +05/24 17:39:46 INFO: [Worker 0] Successfully saved trajectory data for house_820 in 2.07s (batch: 1.98s, save: 0.10s) [pipeline.py: 280] +05/24 17:39:46 WARNING: [Worker 0] No trajectory data to save for house_820 [pipeline.py: 229] +05/24 17:39:46 INFO: [Worker 0] Worker 0 completed house 820: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:39:46 INFO: [Worker 0] Worker 0 starting house 831 (index 69/84) [pipeline.py: 473] +05/24 17:39:46 INFO: [Worker 0] Loaded 2 episodes for house 831 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:39:46 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:39:49 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml [task_sampler.py: 797] +05/24 17:39:49 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:39:49 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:39:50 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/24 17:39:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:39:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:39:50 INFO: [Worker 0] Sampled task 'Pick up the green wine bottle' [task_sampler.py: 1136] +05/24 17:39:50 INFO: [Worker 0] Worker 0 house 831 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:39:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:39:50 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:41:07 INFO: [Worker 0] Worker 0 house 831 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False [pipeline.py: 1114] +05/24 17:41:10 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:41:14 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml [task_sampler.py: 797] +05/24 17:41:14 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:41:14 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:41:14 INFO: [Worker 0] randomize_scene: Setting poses for 45 objects [json_eval_task_sampler.py: 686] +05/24 17:41:14 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:41:14 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:41:14 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:41:14 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:41:14 INFO: [Worker 0] Sampled task 'Pick up the kitchen spatula' [task_sampler.py: 1136] +05/24 17:41:14 INFO: [Worker 0] Worker 0 house 831 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:41:14 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:41:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:41:22 INFO: [Worker 0] Worker 0 house 831 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:41:25 INFO: [Worker 0] Batching and saving trajectory data for house_831: 2 episodes [pipeline.py: 233] +05/24 17:41:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:41:27 INFO: [Worker 0] Preparing episode data: 48 timesteps [save_utils.py: 284] +05/24 17:41:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:41:29 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:41:29 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831 [save_utils.py: 703] +05/24 17:41:29 INFO: [Worker 0] Successfully saved trajectory data for house_831 in 3.87s (batch: 3.76s, save: 0.11s) [pipeline.py: 280] +05/24 17:41:30 WARNING: [Worker 0] No trajectory data to save for house_831 [pipeline.py: 229] +05/24 17:41:30 INFO: [Worker 0] Worker 0 completed house 831: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:41:30 INFO: [Worker 0] Worker 0 starting house 844 (index 70/84) [pipeline.py: 473] +05/24 17:41:30 INFO: [Worker 0] Loaded 2 episodes for house 844 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:41:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:41:34 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml [task_sampler.py: 797] +05/24 17:41:34 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:41:34 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:41:34 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/24 17:41:34 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:41:34 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:41:34 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:41:34 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:41:34 INFO: [Worker 0] Sampled task 'Pick up the glass pepper shaker' [task_sampler.py: 1136] +05/24 17:41:34 INFO: [Worker 0] Worker 0 house 844 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:41:34 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:41:34 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:41:49 INFO: [Worker 0] Worker 0 house 844 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:41:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:41:56 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml [task_sampler.py: 797] +05/24 17:41:56 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:41:56 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:41:56 INFO: [Worker 0] randomize_scene: Setting poses for 67 objects [json_eval_task_sampler.py: 686] +05/24 17:41:56 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:41:56 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:41:56 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:41:56 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:41:56 INFO: [Worker 0] Sampled task 'Pick up the plastic cup' [task_sampler.py: 1136] +05/24 17:41:56 INFO: [Worker 0] Worker 0 house 844 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:41:56 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:41:57 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:43:19 INFO: [Worker 0] Worker 0 house 844 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 17:43:22 INFO: [Worker 0] Batching and saving trajectory data for house_844: 2 episodes [pipeline.py: 233] +05/24 17:43:22 INFO: [Worker 0] Preparing episode data: 81 timesteps [save_utils.py: 284] +05/24 17:43:25 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:43:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:43:27 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:43:27 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844 [save_utils.py: 703] +05/24 17:43:27 INFO: [Worker 0] Successfully saved trajectory data for house_844 in 4.78s (batch: 4.66s, save: 0.12s) [pipeline.py: 280] +05/24 17:43:28 WARNING: [Worker 0] No trajectory data to save for house_844 [pipeline.py: 229] +05/24 17:43:28 INFO: [Worker 0] Worker 0 completed house 844: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:43:28 INFO: [Worker 0] Worker 0 starting house 849 (index 71/84) [pipeline.py: 473] +05/24 17:43:28 INFO: [Worker 0] Loaded 1 episodes for house 849 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:43:28 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:43:31 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_849_ceiling.xml [task_sampler.py: 797] +05/24 17:43:31 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=849, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:43:31 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:43:31 INFO: [Worker 0] randomize_scene: Setting poses for 48 objects [json_eval_task_sampler.py: 686] +05/24 17:43:31 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:43:31 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:43:31 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:43:31 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:43:31 INFO: [Worker 0] Sampled task 'Pick up the blue metallic cooking pot with handle' [task_sampler.py: 1136] +05/24 17:43:31 INFO: [Worker 0] Worker 0 house 849 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:43:31 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:43:32 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:43:49 INFO: [Worker 0] Worker 0 house 849 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:43:53 INFO: [Worker 0] Batching and saving trajectory data for house_849: 1 episodes [pipeline.py: 233] +05/24 17:43:53 INFO: [Worker 0] Preparing episode data: 95 timesteps [save_utils.py: 284] +05/24 17:43:55 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:43:55 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_849 [save_utils.py: 703] +05/24 17:43:55 INFO: [Worker 0] Successfully saved trajectory data for house_849 in 2.31s (batch: 2.27s, save: 0.04s) [pipeline.py: 280] +05/24 17:43:55 WARNING: [Worker 0] No trajectory data to save for house_849 [pipeline.py: 229] +05/24 17:43:55 INFO: [Worker 0] Worker 0 completed house 849: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:43:55 INFO: [Worker 0] Worker 0 starting house 867 (index 72/84) [pipeline.py: 473] +05/24 17:43:55 INFO: [Worker 0] Loaded 2 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:43:55 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:43:59 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml [task_sampler.py: 797] +05/24 17:43:59 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:43:59 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:43:59 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/24 17:43:59 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:43:59 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:43:59 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:43:59 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:43:59 INFO: [Worker 0] Sampled task 'Pick up the polished metal fork with curve' [task_sampler.py: 1136] +05/24 17:43:59 INFO: [Worker 0] Worker 0 house 867 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:44:00 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:44:00 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:44:09 INFO: [Worker 0] Worker 0 house 867 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:44:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:44:16 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml [task_sampler.py: 797] +05/24 17:44:16 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:44:16 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:44:16 INFO: [Worker 0] randomize_scene: Setting poses for 59 objects [json_eval_task_sampler.py: 686] +05/24 17:44:16 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:44:16 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:44:16 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:44:16 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:44:16 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 17:44:16 INFO: [Worker 0] Worker 0 house 867 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:44:16 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:44:17 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:44:24 INFO: [Worker 0] Worker 0 house 867 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=True [pipeline.py: 1114] +05/24 17:44:26 INFO: [Worker 0] Batching and saving trajectory data for house_867: 2 episodes [pipeline.py: 233] +05/24 17:44:26 INFO: [Worker 0] Preparing episode data: 49 timesteps [save_utils.py: 284] +05/24 17:44:28 INFO: [Worker 0] Preparing episode data: 40 timesteps [save_utils.py: 284] +05/24 17:44:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:44:30 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:44:30 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867 [save_utils.py: 703] +05/24 17:44:30 INFO: [Worker 0] Successfully saved trajectory data for house_867 in 3.57s (batch: 3.51s, save: 0.05s) [pipeline.py: 280] +05/24 17:44:30 WARNING: [Worker 0] No trajectory data to save for house_867 [pipeline.py: 229] +05/24 17:44:30 INFO: [Worker 0] Worker 0 completed house 867: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:44:30 INFO: [Worker 0] Worker 0 starting house 885 (index 73/84) [pipeline.py: 473] +05/24 17:44:30 INFO: [Worker 0] Loaded 2 episodes for house 885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:44:30 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:44:32 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml [task_sampler.py: 797] +05/24 17:44:32 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:44:32 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:44:32 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/24 17:44:32 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:44:32 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:44:32 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:44:32 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:44:32 INFO: [Worker 0] Sampled task 'Pick up the kitchen spatula' [task_sampler.py: 1136] +05/24 17:44:32 INFO: [Worker 0] Worker 0 house 885 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:44:32 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:44:33 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:44:44 INFO: [Worker 0] Worker 0 house 885 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:44:47 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:44:48 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml [task_sampler.py: 797] +05/24 17:44:48 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:44:48 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:44:48 INFO: [Worker 0] randomize_scene: Setting poses for 28 objects [json_eval_task_sampler.py: 686] +05/24 17:44:48 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:44:48 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:44:48 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:44:48 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:44:48 INFO: [Worker 0] Sampled task 'Pick up the orange bottle' [task_sampler.py: 1136] +05/24 17:44:48 INFO: [Worker 0] Worker 0 house 885 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:44:48 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:44:49 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:45:57 INFO: [Worker 0] Worker 0 house 885 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:46:00 INFO: [Worker 0] Batching and saving trajectory data for house_885: 2 episodes [pipeline.py: 233] +05/24 17:46:00 INFO: [Worker 0] Preparing episode data: 77 timesteps [save_utils.py: 284] +05/24 17:46:03 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:46:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:46:05 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:46:05 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885 [save_utils.py: 703] +05/24 17:46:05 INFO: [Worker 0] Successfully saved trajectory data for house_885 in 4.94s (batch: 4.83s, save: 0.11s) [pipeline.py: 280] +05/24 17:46:06 WARNING: [Worker 0] No trajectory data to save for house_885 [pipeline.py: 229] +05/24 17:46:06 INFO: [Worker 0] Worker 0 completed house 885: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:46:06 INFO: [Worker 0] Worker 0 starting house 890 (index 74/84) [pipeline.py: 473] +05/24 17:46:06 INFO: [Worker 0] Loaded 1 episodes for house 890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:46:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:46:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_890_ceiling.xml [task_sampler.py: 797] +05/24 17:46:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=890, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:46:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:46:09 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:46:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:46:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:46:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:46:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:46:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:46:09 INFO: [Worker 0] Sampled task 'Pick up the smooth dark teal box' [task_sampler.py: 1136] +05/24 17:46:09 INFO: [Worker 0] Worker 0 house 890 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:46:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:46:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:46:30 INFO: [Worker 0] Worker 0 house 890 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7 completed with success=True [pipeline.py: 1114] +05/24 17:46:33 INFO: [Worker 0] Batching and saving trajectory data for house_890: 1 episodes [pipeline.py: 233] +05/24 17:46:33 INFO: [Worker 0] Preparing episode data: 116 timesteps [save_utils.py: 284] +05/24 17:46:35 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:46:35 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_890 [save_utils.py: 703] +05/24 17:46:35 INFO: [Worker 0] Successfully saved trajectory data for house_890 in 1.83s (batch: 1.79s, save: 0.04s) [pipeline.py: 280] +05/24 17:46:35 WARNING: [Worker 0] No trajectory data to save for house_890 [pipeline.py: 229] +05/24 17:46:35 INFO: [Worker 0] Worker 0 completed house 890: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:46:35 INFO: [Worker 0] Worker 0 starting house 898 (index 75/84) [pipeline.py: 473] +05/24 17:46:35 INFO: [Worker 0] Loaded 2 episodes for house 898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:46:35 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:46:40 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml [task_sampler.py: 797] +05/24 17:46:40 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:46:40 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:46:40 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:46:40 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:46:40 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:46:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:46:40 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:46:40 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:46:40 INFO: [Worker 0] Sampled task 'Pick up the silver butter knife' [task_sampler.py: 1136] +05/24 17:46:40 INFO: [Worker 0] Worker 0 house 898 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:46:40 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:46:41 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:48:05 INFO: [Worker 0] Worker 0 house 898 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 17:48:07 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:48:12 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml [task_sampler.py: 797] +05/24 17:48:12 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:48:12 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:48:12 INFO: [Worker 0] randomize_scene: Setting poses for 56 objects [json_eval_task_sampler.py: 686] +05/24 17:48:12 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:48:12 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:48:12 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:48:12 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:48:12 INFO: [Worker 0] Sampled task 'Pick up the red apple' [task_sampler.py: 1136] +05/24 17:48:12 INFO: [Worker 0] Worker 0 house 898 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:48:12 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:48:13 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:49:36 INFO: [Worker 0] Worker 0 house 898 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False [pipeline.py: 1114] +05/24 17:49:39 INFO: [Worker 0] Batching and saving trajectory data for house_898: 2 episodes [pipeline.py: 233] +05/24 17:49:39 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:49:41 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:49:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:49:43 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:49:43 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898 [save_utils.py: 703] +05/24 17:49:43 INFO: [Worker 0] Successfully saved trajectory data for house_898 in 4.48s (batch: 4.29s, save: 0.19s) [pipeline.py: 280] +05/24 17:49:44 WARNING: [Worker 0] No trajectory data to save for house_898 [pipeline.py: 229] +05/24 17:49:44 INFO: [Worker 0] Worker 0 completed house 898: 0/2 successful episodes [pipeline.py: 1243] +05/24 17:49:44 INFO: [Worker 0] Worker 0 starting house 916 (index 76/84) [pipeline.py: 473] +05/24 17:49:44 INFO: [Worker 0] Loaded 2 episodes for house 916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:49:44 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:49:54 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml [task_sampler.py: 797] +05/24 17:49:54 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:49:54 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:49:54 INFO: [Worker 0] randomize_scene: Setting poses for 149 objects [json_eval_task_sampler.py: 686] +05/24 17:49:54 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:49:54 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:49:54 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:49:54 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:49:54 INFO: [Worker 0] Sampled task 'Pick up the dark green wine bottle' [task_sampler.py: 1136] +05/24 17:49:54 INFO: [Worker 0] Worker 0 house 916 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:49:54 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:49:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:51:56 INFO: [Worker 0] Worker 0 house 916 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:51:59 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:52:10 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml [task_sampler.py: 797] +05/24 17:52:10 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:52:10 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:52:10 INFO: [Worker 0] randomize_scene: Setting poses for 149 objects [json_eval_task_sampler.py: 686] +05/24 17:52:10 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:52:10 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:52:10 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:52:10 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:52:10 INFO: [Worker 0] Sampled task 'Pick up the orange spray bottle' [task_sampler.py: 1136] +05/24 17:52:10 INFO: [Worker 0] Worker 0 house 916 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:52:10 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:52:11 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:52:24 INFO: [Worker 0] Worker 0 house 916 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=True [pipeline.py: 1114] +05/24 17:52:28 INFO: [Worker 0] Batching and saving trajectory data for house_916: 2 episodes [pipeline.py: 233] +05/24 17:52:28 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:52:30 INFO: [Worker 0] Preparing episode data: 49 timesteps [save_utils.py: 284] +05/24 17:52:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:52:32 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:52:32 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916 [save_utils.py: 703] +05/24 17:52:32 INFO: [Worker 0] Successfully saved trajectory data for house_916 in 4.84s (batch: 4.71s, save: 0.14s) [pipeline.py: 280] +05/24 17:52:33 WARNING: [Worker 0] No trajectory data to save for house_916 [pipeline.py: 229] +05/24 17:52:33 INFO: [Worker 0] Worker 0 completed house 916: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:52:33 INFO: [Worker 0] Worker 0 starting house 923 (index 77/84) [pipeline.py: 473] +05/24 17:52:33 INFO: [Worker 0] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:52:33 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:52:37 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_923_ceiling.xml [task_sampler.py: 797] +05/24 17:52:37 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=923, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:52:37 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:52:37 INFO: [Worker 0] randomize_scene: Setting poses for 71 objects [json_eval_task_sampler.py: 686] +05/24 17:52:37 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:52:37 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:52:37 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:52:37 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:52:37 INFO: [Worker 0] Sampled task 'Pick up the dark teal box' [task_sampler.py: 1136] +05/24 17:52:37 INFO: [Worker 0] Worker 0 house 923 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:52:37 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:52:38 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:52:47 INFO: [Worker 0] Worker 0 house 923 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True [pipeline.py: 1114] +05/24 17:52:50 INFO: [Worker 0] Batching and saving trajectory data for house_923: 1 episodes [pipeline.py: 233] +05/24 17:52:50 INFO: [Worker 0] Preparing episode data: 54 timesteps [save_utils.py: 284] +05/24 17:52:52 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:52:52 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923 [save_utils.py: 703] +05/24 17:52:52 INFO: [Worker 0] Successfully saved trajectory data for house_923 in 1.81s (batch: 1.78s, save: 0.03s) [pipeline.py: 280] +05/24 17:52:52 WARNING: [Worker 0] No trajectory data to save for house_923 [pipeline.py: 229] +05/24 17:52:52 INFO: [Worker 0] Worker 0 completed house 923: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:52:52 INFO: [Worker 0] Worker 0 starting house 941 (index 78/84) [pipeline.py: 473] +05/24 17:52:52 INFO: [Worker 0] Loaded 2 episodes for house 941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:52:52 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:52:55 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml [task_sampler.py: 797] +05/24 17:52:55 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:52:55 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:52:55 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:52:55 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:52:55 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:52:55 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:52:55 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:52:55 INFO: [Worker 0] Sampled task 'Pick up the silver polished butter knife with handle' [task_sampler.py: 1136] +05/24 17:52:55 INFO: [Worker 0] Worker 0 house 941 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:52:55 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:52:55 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:53:03 INFO: [Worker 0] Worker 0 house 941 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:53:06 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:53:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml [task_sampler.py: 797] +05/24 17:53:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:53:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:53:09 INFO: [Worker 0] randomize_scene: Setting poses for 42 objects [json_eval_task_sampler.py: 686] +05/24 17:53:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:53:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:53:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:53:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:53:09 INFO: [Worker 0] Sampled task 'Pick up the butterknife' [task_sampler.py: 1136] +05/24 17:53:09 INFO: [Worker 0] Worker 0 house 941 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:53:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:53:09 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:54:17 INFO: [Worker 0] Worker 0 house 941 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:54:21 INFO: [Worker 0] Batching and saving trajectory data for house_941: 2 episodes [pipeline.py: 233] +05/24 17:54:21 INFO: [Worker 0] Preparing episode data: 57 timesteps [save_utils.py: 284] +05/24 17:54:23 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:54:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:54:25 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:54:25 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941 [save_utils.py: 703] +05/24 17:54:25 INFO: [Worker 0] Successfully saved trajectory data for house_941 in 4.73s (batch: 4.60s, save: 0.12s) [pipeline.py: 280] +05/24 17:54:26 WARNING: [Worker 0] No trajectory data to save for house_941 [pipeline.py: 229] +05/24 17:54:26 INFO: [Worker 0] Worker 0 completed house 941: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:54:26 INFO: [Worker 0] Worker 0 starting house 942 (index 79/84) [pipeline.py: 473] +05/24 17:54:26 INFO: [Worker 0] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:54:26 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:54:28 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_942_ceiling.xml [task_sampler.py: 797] +05/24 17:54:28 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=942, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:54:28 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:54:28 INFO: [Worker 0] randomize_scene: Setting poses for 31 objects [json_eval_task_sampler.py: 686] +05/24 17:54:28 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:54:28 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:54:28 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:54:28 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:54:28 INFO: [Worker 0] Sampled task 'Pick up the blue spray bottle with nozzle' [task_sampler.py: 1136] +05/24 17:54:28 INFO: [Worker 0] Worker 0 house 942 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:54:29 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:54:29 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:55:44 INFO: [Worker 0] Worker 0 house 942 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False [pipeline.py: 1114] +05/24 17:55:47 INFO: [Worker 0] Batching and saving trajectory data for house_942: 1 episodes [pipeline.py: 233] +05/24 17:55:47 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:55:49 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:55:49 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942 [save_utils.py: 703] +05/24 17:55:49 INFO: [Worker 0] Successfully saved trajectory data for house_942 in 1.99s (batch: 1.90s, save: 0.09s) [pipeline.py: 280] +05/24 17:55:49 WARNING: [Worker 0] No trajectory data to save for house_942 [pipeline.py: 229] +05/24 17:55:49 INFO: [Worker 0] Worker 0 completed house 942: 0/1 successful episodes [pipeline.py: 1243] +05/24 17:55:49 INFO: [Worker 0] Worker 0 starting house 955 (index 80/84) [pipeline.py: 473] +05/24 17:55:49 INFO: [Worker 0] Loaded 1 episodes for house 955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:55:49 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:55:50 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_955_ceiling.xml [task_sampler.py: 797] +05/24 17:55:50 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=955, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:55:50 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:55:50 INFO: [Worker 0] randomize_scene: Setting poses for 11 objects [json_eval_task_sampler.py: 686] +05/24 17:55:50 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:55:50 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:55:50 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:55:50 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:55:50 INFO: [Worker 0] Sampled task 'Pick up the matte dark gray bowl' [task_sampler.py: 1136] +05/24 17:55:50 INFO: [Worker 0] Worker 0 house 955 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:55:50 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:55:51 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:56:28 INFO: [Worker 0] Worker 0 house 955 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:56:31 INFO: [Worker 0] Batching and saving trajectory data for house_955: 1 episodes [pipeline.py: 233] +05/24 17:56:31 INFO: [Worker 0] Preparing episode data: 262 timesteps [save_utils.py: 284] +05/24 17:56:33 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:56:33 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955 [save_utils.py: 703] +05/24 17:56:33 INFO: [Worker 0] Successfully saved trajectory data for house_955 in 1.95s (batch: 1.89s, save: 0.06s) [pipeline.py: 280] +05/24 17:56:34 WARNING: [Worker 0] No trajectory data to save for house_955 [pipeline.py: 229] +05/24 17:56:34 INFO: [Worker 0] Worker 0 completed house 955: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:56:34 INFO: [Worker 0] Worker 0 starting house 963 (index 81/84) [pipeline.py: 473] +05/24 17:56:34 INFO: [Worker 0] Loaded 2 episodes for house 963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:56:34 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:56:41 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml [task_sampler.py: 797] +05/24 17:56:41 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:56:41 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:56:41 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/24 17:56:41 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:56:41 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:56:41 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:56:41 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:56:41 INFO: [Worker 0] Sampled task 'Pick up the slim black remote with buttons' [task_sampler.py: 1136] +05/24 17:56:41 INFO: [Worker 0] Worker 0 house 963 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:56:42 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:56:42 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:56:58 INFO: [Worker 0] Worker 0 house 963 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10 completed with success=True [pipeline.py: 1114] +05/24 17:57:01 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:57:09 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml [task_sampler.py: 797] +05/24 17:57:09 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:57:09 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:57:09 INFO: [Worker 0] randomize_scene: Setting poses for 89 objects [json_eval_task_sampler.py: 686] +05/24 17:57:09 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:57:09 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:57:09 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:57:09 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:57:09 INFO: [Worker 0] Sampled task 'Pick up the smooth shallow light brown bowl' [task_sampler.py: 1136] +05/24 17:57:09 INFO: [Worker 0] Worker 0 house 963 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:57:09 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:57:10 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:57:18 INFO: [Worker 0] Worker 0 house 963 episode 1 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=True [pipeline.py: 1114] +05/24 17:57:20 INFO: [Worker 0] Batching and saving trajectory data for house_963: 2 episodes [pipeline.py: 233] +05/24 17:57:20 INFO: [Worker 0] Preparing episode data: 72 timesteps [save_utils.py: 284] +05/24 17:57:22 INFO: [Worker 0] Preparing episode data: 38 timesteps [save_utils.py: 284] +05/24 17:57:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:57:24 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:57:24 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963 [save_utils.py: 703] +05/24 17:57:24 INFO: [Worker 0] Successfully saved trajectory data for house_963 in 3.58s (batch: 3.52s, save: 0.05s) [pipeline.py: 280] +05/24 17:57:24 WARNING: [Worker 0] No trajectory data to save for house_963 [pipeline.py: 229] +05/24 17:57:24 INFO: [Worker 0] Worker 0 completed house 963: 2/2 successful episodes [pipeline.py: 1243] +05/24 17:57:24 INFO: [Worker 0] Worker 0 starting house 982 (index 82/84) [pipeline.py: 473] +05/24 17:57:24 INFO: [Worker 0] Loaded 2 episodes for house 982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:57:24 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:57:26 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml [task_sampler.py: 797] +05/24 17:57:26 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:57:26 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:57:26 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/24 17:57:26 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:57:26 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:57:26 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:57:26 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:57:26 INFO: [Worker 0] Sampled task 'Pick up the cookware' [task_sampler.py: 1136] +05/24 17:57:26 INFO: [Worker 0] Worker 0 house 982 episode 0/2 collected=0/2 [pipeline.py: 1050] +05/24 17:57:26 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:57:27 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:58:09 INFO: [Worker 0] Worker 0 house 982 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:58:12 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:58:13 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml [task_sampler.py: 797] +05/24 17:58:13 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:58:13 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:58:13 INFO: [Worker 0] randomize_scene: Setting poses for 24 objects [json_eval_task_sampler.py: 686] +05/24 17:58:13 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:58:13 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:58:13 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:58:13 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:58:13 INFO: [Worker 0] Sampled task 'Pick up the shiny silver metallic kettle' [task_sampler.py: 1136] +05/24 17:58:13 INFO: [Worker 0] Worker 0 house 982 episode 1/2 collected=1/2 [pipeline.py: 1050] +05/24 17:58:13 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:58:14 WARNING: [Worker 0] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. [task.py: 309] +05/24 17:59:20 INFO: [Worker 0] Worker 0 house 982 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False [pipeline.py: 1114] +05/24 17:59:23 INFO: [Worker 0] Batching and saving trajectory data for house_982: 2 episodes [pipeline.py: 233] +05/24 17:59:23 INFO: [Worker 0] Preparing episode data: 271 timesteps [save_utils.py: 284] +05/24 17:59:26 INFO: [Worker 0] Preparing episode data: 451 timesteps [save_utils.py: 284] +05/24 17:59:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:59:28 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:59:28 INFO: [Worker 0] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982 [save_utils.py: 703] +05/24 17:59:28 INFO: [Worker 0] Successfully saved trajectory data for house_982 in 4.93s (batch: 4.79s, save: 0.14s) [pipeline.py: 280] +05/24 17:59:29 WARNING: [Worker 0] No trajectory data to save for house_982 [pipeline.py: 229] +05/24 17:59:29 INFO: [Worker 0] Worker 0 completed house 982: 1/2 successful episodes [pipeline.py: 1243] +05/24 17:59:29 INFO: [Worker 0] Worker 0 starting house 994 (index 83/84) [pipeline.py: 473] +05/24 17:59:29 INFO: [Worker 0] Loaded 1 episodes for house 994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 [json_eval_runner.py: 278] +05/24 17:59:29 INFO: [Worker 0] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} [task_sampler.py: 317] +05/24 17:59:30 INFO: [Worker 0] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_994_ceiling.xml [task_sampler.py: 797] +05/24 17:59:30 INFO: [Worker 0] randomize_scene: episode_spec says: house_index=994, scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 662] +05/24 17:59:30 INFO: [Worker 0] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val [json_eval_task_sampler.py: 668] +05/24 17:59:30 INFO: [Worker 0] randomize_scene: Setting poses for 12 objects [json_eval_task_sampler.py: 686] +05/24 17:59:30 WARNING: [Worker 0] Not setting joint of [json_eval_task_sampler.py: 441] +05/24 17:59:30 INFO: [Worker 0] Scene setup from episode spec completed. [json_eval_task_sampler.py: 726] +05/24 17:59:30 INFO: [Worker 0] [CAMERA SETUP] Setting up 2 cameras [camera_manager.py: 300] +05/24 17:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' [camera_manager.py: 510] +05/24 17:59:30 INFO: [Worker 0] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' [camera_manager.py: 510] +05/24 17:59:30 INFO: [Worker 0] [CAMERA SETUP] Successfully set up 2 cameras [camera_manager.py: 326] +05/24 17:59:30 INFO: [Worker 0] Sampled task 'Pick up the carton' [task_sampler.py: 1136] +05/24 17:59:30 INFO: [Worker 0] Worker 0 house 994 episode 0/1 collected=0/2 [pipeline.py: 1050] +05/24 17:59:30 WARNING: [Worker 0] Policy does not support tracking retries. [sensors.py: 1071] +05/24 17:59:41 INFO: [Worker 0] Worker 0 house 994 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_2 completed with success=True [pipeline.py: 1114] +05/24 17:59:44 INFO: [Worker 0] Batching and saving trajectory data for house_994: 1 episodes [pipeline.py: 233] +05/24 17:59:44 INFO: [Worker 0] Preparing episode data: 74 timesteps [save_utils.py: 284] +05/24 17:59:46 WARNING: [Worker 0] No terminated recorded, assuming episode ended [save_utils.py: 659] +05/24 17:59:46 INFO: [Worker 0] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994 [save_utils.py: 703] +05/24 17:59:46 INFO: [Worker 0] Successfully saved trajectory data for house_994 in 2.22s (batch: 2.18s, save: 0.04s) [pipeline.py: 280] +05/24 17:59:47 WARNING: [Worker 0] No trajectory data to save for house_994 [pipeline.py: 229] +05/24 17:59:47 INFO: [Worker 0] Worker 0 completed house 994: 1/1 successful episodes [pipeline.py: 1243] +05/24 17:59:47 INFO: [Worker 0] Worker 0 completed processing assigned houses [pipeline.py: 526] +05/24 17:59:47 INFO: Completed 84 houses, skipped 0 houses [pipeline.py: 1496] +05/24 17:59:47 INFO: Success count: 68, Total count: 125 [pipeline.py: 1499] +05/24 17:59:47 INFO: Success rate: 54.40% [pipeline.py: 1500] diff --git a/pick_msproc/pick_msproc/shards/shard_07/eval/episode_results.jsonl b/pick_msproc/pick_msproc/shards/shard_07/eval/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbeda3593145cf2a469abf3aa9994436d810a7d6 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/eval/episode_results.jsonl @@ -0,0 +1,125 @@ +{"house_id": "house_1", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 125, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_102", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 62, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_102", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the shiny silver metallic kettle with handle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_112", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 100, "task_description": "Pick up the light wooden cup with rim", "object_name": "cup_4697b73732349085e30935e0f35566dc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_112", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle with golden pump", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_128", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_128", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 110, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_138", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the spray bottle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": 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false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the silver butter knife", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_898", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the red apple", "object_name": "apple_c4656249220dffb6f61d18517b39de70_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_90", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_916", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark green wine bottle", "object_name": "winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_916", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 47, "task_description": "Pick up the orange spray bottle", "object_name": "atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_923", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 52, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_941", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the silver polished butter knife with handle", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_941", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterknife", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_942", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_955", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 260, "task_description": "Pick up the matte dark gray bowl", "object_name": "bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_963", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 70, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_963", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 36, "task_description": "Pick up the smooth shallow light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_982", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 269, "task_description": "Pick up the cookware", "object_name": "pot_811f072cf19900b4e135f7de5cb90e81_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_982", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny silver metallic kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_994", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 72, "task_description": "Pick up the carton", "object_name": "box_7c54a26cba93093ca8aceb6fbac82646_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_msproc/pick_msproc/shards/shard_07/eval/eval.log b/pick_msproc/pick_msproc/shards/shard_07/eval/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..2f4eb799b06b4c55a380b8187b6c1cb3967b402f --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/eval/eval.log @@ -0,0 +1,2968 @@ +[2026-05-24 15:59:54,437] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,516] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,549] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 (source=arg) +[2026-05-24 15:59:56,841] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,288] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,671] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,671] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,059] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,118] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,155] INFO JsonEvalRunner initialized: 84 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 84 houses with 2 episodes each (168 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [1, + 15, + 21, + 32, + 45, + 68, + 71, + 87, + 90, + 102, + 112, + 128, + 138, + 155, + 159, + 182, + 192, + 196, + 215, + 227, + 243, + 248, + 258, + 278, + 286, + 306, + 314, + 329, + 330, + 351, + 354, + 369, + 375, + 391, + 404, + 417, + 424, + 441, + 445, + 472, + 478, + 494, + 508, + 511, + 527, + 537, + 550, + 553, + 572, + 575, + 589, + 595, + 614, + 626, + 640, + 642, + 665, + 669, + 688, + 702, + 704, + 724, + 738, + 749, + 767, + 772, + 788, + 804, + 820, + 831, + 844, + 849, + 867, + 885, + 890, + 898, + 916, + 923, + 941, + 942, + 955, + 963, + 982, + 994], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,162] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1 (index 0/84) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:46,650:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:46,650] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_1_ceiling.xml +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=1, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:04:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 1 episode 0/1 collected=0/2 +[05/24 16:04:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:48.527 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:49,549] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:49,893] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:04:50,598] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:04:59,201] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:04:59,210] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:05:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 16:05:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1: 1 episodes +[05/24 16:05:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:05:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:05:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1 +[05/24 16:05:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1 in 2.14s (batch: 2.08s, save: 0.06s) +[05/24 16:05:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1 +[05/24 16:05:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1: 1/1 successful episodes +[05/24 16:05:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 15 (index 1/84) +[05/24 16:05:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 15 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:05:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:05:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_15_ceiling.xml +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=15, scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:05:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:05:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:05:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 15 episode 0/1 collected=0/2 +[05/24 16:05:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:05:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 15 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:07:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_15: 1 episodes +[05/24 16:07:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 267 timesteps +[05/24 16:07:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_15 in 1.92s (batch: 1.85s, save: 0.07s) +[05/24 16:07:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 15: 1/1 successful episodes +[05/24 16:07:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 21 (index 2/84) +[05/24 16:07:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 21 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:07:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 0/2 collected=0/2 +[05/24 16:07:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:07:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 1/2 collected=1/2 +[05/24 16:07:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 16:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_21: 2 episodes +[05/24 16:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:07:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_21 +[05/24 16:07:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_21 in 4.08s (batch: 4.02s, save: 0.05s) +[05/24 16:07:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_21 +[05/24 16:07:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 21: 2/2 successful episodes +[05/24 16:07:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 32 (index 3/84) +[05/24 16:07:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 32 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:07:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 0/2 collected=0/2 +[05/24 16:07:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:09:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:09:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 1/2 collected=1/2 +[05/24 16:09:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:10:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_32: 2 episodes +[05/24 16:10:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:11:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_32 in 4.92s (batch: 4.74s, save: 0.18s) +[05/24 16:11:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 32: 0/2 successful episodes +[05/24 16:11:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 45 (index 4/84) +[05/24 16:11:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 45 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_45_ceiling.xml +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=45, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 16:11:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 45 episode 0/1 collected=0/2 +[05/24 16:11:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 45 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True +[05/24 16:11:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_45: 1 episodes +[05/24 16:11:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 16:11:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_45 +[05/24 16:11:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_45 in 1.82s (batch: 1.79s, save: 0.03s) +[05/24 16:11:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_45 +[05/24 16:11:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 45: 1/1 successful episodes +[05/24 16:11:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 68 (index 5/84) +[05/24 16:11:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 68 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_68_ceiling.xml +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=68, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:11:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 68 episode 0/1 collected=0/2 +[05/24 16:11:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 68 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:11:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_68: 1 episodes +[05/24 16:11:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:11:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_68 +[05/24 16:11:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_68 in 2.24s (batch: 2.21s, save: 0.03s) +[05/24 16:11:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_68 +[05/24 16:11:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 68: 1/1 successful episodes +[05/24 16:11:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 71 (index 6/84) +[05/24 16:11:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 71 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:11:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 0/2 collected=0/2 +[05/24 16:11:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:12:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium ripe red tomato with stem' +[05/24 16:12:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 1/2 collected=1/2 +[05/24 16:12:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 1 object tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_2 completed with success=False +[05/24 16:13:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_71: 2 episodes +[05/24 16:13:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71 +[05/24 16:13:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_71 in 4.01s (batch: 3.90s, save: 0.12s) +[05/24 16:13:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_71 +[05/24 16:13:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 71: 1/2 successful episodes +[05/24 16:13:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 87 (index 7/84) +[05/24 16:13:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 87 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:13:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:13:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 0/2 collected=0/2 +[05/24 16:13:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=False +[05/24 16:15:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:15:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 1/2 collected=1/2 +[05/24 16:15:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 16:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_87: 2 episodes +[05/24 16:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_87 in 4.25s (batch: 4.09s, save: 0.16s) +[05/24 16:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 87: 0/2 successful episodes +[05/24 16:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 90 (index 8/84) +[05/24 16:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 90 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_90_ceiling.xml +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=90, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:16:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 90 episode 0/1 collected=0/2 +[05/24 16:16:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 90 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:18:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_90: 1 episodes +[05/24 16:18:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_90 in 2.50s (batch: 2.42s, save: 0.09s) +[05/24 16:18:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 90: 0/1 successful episodes +[05/24 16:18:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 102 (index 9/84) +[05/24 16:18:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:18:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 0/2 collected=0/2 +[05/24 16:18:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:18:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:18:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 1/2 collected=1/2 +[05/24 16:18:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:18:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_102: 2 episodes +[05/24 16:18:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:18:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102 +[05/24 16:18:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_102 in 3.58s (batch: 3.53s, save: 0.05s) +[05/24 16:18:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_102 +[05/24 16:18:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 102: 2/2 successful episodes +[05/24 16:18:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 112 (index 10/84) +[05/24 16:18:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with rim' +[05/24 16:18:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 0/2 collected=0/2 +[05/24 16:18:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 0 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 16:19:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:19:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 1/2 collected=1/2 +[05/24 16:19:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 16:20:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_112: 2 episodes +[05/24 16:20:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 102 timesteps +[05/24 16:20:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_112 in 3.91s (batch: 3.80s, save: 0.11s) +[05/24 16:20:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 112: 1/2 successful episodes +[05/24 16:20:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 128 (index 11/84) +[05/24 16:20:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:20:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:20:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 0/2 collected=0/2 +[05/24 16:20:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 16:20:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:20:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 1/2 collected=1/2 +[05/24 16:20:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:21:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_128: 2 episodes +[05/24 16:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:21:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128 +[05/24 16:21:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_128 in 3.71s (batch: 3.64s, save: 0.07s) +[05/24 16:21:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_128 +[05/24 16:21:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 128: 2/2 successful episodes +[05/24 16:21:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 138 (index 12/84) +[05/24 16:21:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 138 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_138_ceiling.xml +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=138, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray bottle' +[05/24 16:21:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 138 episode 0/1 collected=0/2 +[05/24 16:21:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 138 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:21:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_138: 1 episodes +[05/24 16:21:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:21:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_138 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:21:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 138: 1/1 successful episodes +[05/24 16:21:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 155 (index 13/84) +[05/24 16:21:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:21:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 0/2 collected=0/2 +[05/24 16:21:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 16:21:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 1/2 collected=1/2 +[05/24 16:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:21:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_155: 2 episodes +[05/24 16:21:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 16:21:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_155 in 3.59s (batch: 3.54s, save: 0.05s) +[05/24 16:21:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 155: 2/2 successful episodes +[05/24 16:21:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 159 (index 14/84) +[05/24 16:21:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_159_ceiling.xml +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=159, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:22:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 159 episode 0/1 collected=0/2 +[05/24 16:22:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 159 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_159: 1 episodes +[05/24 16:23:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_159 +[05/24 16:23:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_159 in 2.59s (batch: 2.49s, save: 0.10s) +[05/24 16:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_159 +[05/24 16:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 159: 0/1 successful episodes +[05/24 16:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 182 (index 15/84) +[05/24 16:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_182_ceiling.xml +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=182, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 99 objects +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:23:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 182 episode 0/1 collected=0/2 +[05/24 16:23:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 182 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:25:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_182: 1 episodes +[05/24 16:25:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_182 in 2.08s (batch: 1.98s, save: 0.10s) +[05/24 16:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 182: 0/1 successful episodes +[05/24 16:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 192 (index 16/84) +[05/24 16:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:25:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 0/2 collected=0/2 +[05/24 16:25:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:25:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:25:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 1/2 collected=1/2 +[05/24 16:25:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:27:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_192: 2 episodes +[05/24 16:27:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:27:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192 +[05/24 16:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_192 in 4.03s (batch: 3.91s, save: 0.12s) +[05/24 16:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_192 +[05/24 16:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 192: 1/2 successful episodes +[05/24 16:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 196 (index 17/84) +[05/24 16:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_196_ceiling.xml +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=196, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 16:27:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 196 episode 0/1 collected=0/2 +[05/24 16:27:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 196 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 16:27:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_196: 1 episodes +[05/24 16:27:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 16:27:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_196 in 2.23s (batch: 2.17s, save: 0.05s) +[05/24 16:27:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 196: 1/1 successful episodes +[05/24 16:27:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 215 (index 18/84) +[05/24 16:27:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_215_ceiling.xml +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=215, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:27:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 215 episode 0/1 collected=0/2 +[05/24 16:27:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 215 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_215: 1 episodes +[05/24 16:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_215 in 2.75s (batch: 2.65s, save: 0.10s) +[05/24 16:28:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 215: 0/1 successful episodes +[05/24 16:28:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 227 (index 19/84) +[05/24 16:28:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:28:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:28:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 0/2 collected=0/2 +[05/24 16:28:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:29:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:29:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 1/2 collected=1/2 +[05/24 16:29:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:29:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_227: 2 episodes +[05/24 16:29:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:29:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_227 in 4.54s (batch: 4.49s, save: 0.06s) +[05/24 16:29:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 227: 2/2 successful episodes +[05/24 16:29:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 243 (index 20/84) +[05/24 16:29:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 243 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:29:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_243_ceiling.xml +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=243, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:29:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 243 episode 0/1 collected=0/2 +[05/24 16:29:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 243 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:30:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_243: 1 episodes +[05/24 16:30:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_243 in 2.06s (batch: 1.98s, save: 0.08s) +[05/24 16:30:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 243: 0/1 successful episodes +[05/24 16:30:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 248 (index 21/84) +[05/24 16:30:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:30:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:30:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 0/2 collected=0/2 +[05/24 16:30:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 16:31:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:31:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 1/2 collected=1/2 +[05/24 16:31:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_248: 2 episodes +[05/24 16:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_248 in 4.53s (batch: 4.47s, save: 0.06s) +[05/24 16:31:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 248: 2/2 successful episodes +[05/24 16:31:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 258 (index 22/84) +[05/24 16:31:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_258_ceiling.xml +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=258, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:31:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 258 episode 0/1 collected=0/2 +[05/24 16:31:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 258 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 16:31:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_258: 1 episodes +[05/24 16:31:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:31:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_258 +[05/24 16:31:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_258 in 1.88s (batch: 1.85s, save: 0.03s) +[05/24 16:31:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_258 +[05/24 16:31:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 258: 1/1 successful episodes +[05/24 16:31:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 278 (index 23/84) +[05/24 16:31:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 16:31:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 0/2 collected=0/2 +[05/24 16:31:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_7 completed with success=True +[05/24 16:32:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:32:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 1/2 collected=1/2 +[05/24 16:32:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_278: 2 episodes +[05/24 16:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 232 timesteps +[05/24 16:33:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_278 in 4.69s (batch: 4.60s, save: 0.09s) +[05/24 16:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 278: 2/2 successful episodes +[05/24 16:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 286 (index 24/84) +[05/24 16:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_286_ceiling.xml +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=286, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:33:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 286 episode 0/1 collected=0/2 +[05/24 16:33:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 286 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:33:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_286: 1 episodes +[05/24 16:33:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 16:33:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_286 +[05/24 16:33:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_286 in 1.86s (batch: 1.83s, save: 0.03s) +[05/24 16:33:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_286 +[05/24 16:33:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 286: 1/1 successful episodes +[05/24 16:33:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 306 (index 25/84) +[05/24 16:33:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 0/2 collected=0/2 +[05/24 16:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_5 completed with success=False +[05/24 16:34:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife blade' +[05/24 16:35:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 1/2 collected=1/2 +[05/24 16:35:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[2026-05-24 16:36:08,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/24 16:36:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 1 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_8 completed with success=False +[05/24 16:38:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_306: 2 episodes +[05/24 16:38:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306 +[05/24 16:38:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_306 in 5.18s (batch: 5.00s, save: 0.18s) +[05/24 16:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_306 +[05/24 16:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 306: 0/2 successful episodes +[05/24 16:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 314 (index 26/84) +[05/24 16:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_314_ceiling.xml +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=314, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 16:38:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 314 episode 0/1 collected=0/2 +[05/24 16:38:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 314 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 16:39:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_314: 1 episodes +[05/24 16:39:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_314 +[05/24 16:39:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_314 in 2.07s (batch: 1.99s, save: 0.08s) +[05/24 16:39:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_314 +[05/24 16:39:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 314: 0/1 successful episodes +[05/24 16:39:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 329 (index 27/84) +[05/24 16:39:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:39:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_329_ceiling.xml +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=329, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:39:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 329 episode 0/1 collected=0/2 +[05/24 16:39:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 329 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 completed with success=True +[05/24 16:40:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_329: 1 episodes +[05/24 16:40:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 158 timesteps +[05/24 16:40:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_329 in 1.90s (batch: 1.86s, save: 0.05s) +[05/24 16:40:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 329: 1/1 successful episodes +[05/24 16:40:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 330 (index 28/84) +[05/24 16:40:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 330 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:40:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box' +[05/24 16:40:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 0/2 collected=0/2 +[05/24 16:40:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 16:40:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:40:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 1/2 collected=1/2 +[05/24 16:40:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:42:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_330: 2 episodes +[05/24 16:42:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:42:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330 +[05/24 16:42:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_330 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:42:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_330 +[05/24 16:42:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 330: 1/2 successful episodes +[05/24 16:42:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 351 (index 29/84) +[05/24 16:42:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:42:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_351_ceiling.xml +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=351, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 16:42:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 16:42:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 351 episode 0/1 collected=0/2 +[05/24 16:42:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 351 episode 0 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 16:44:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_351: 1 episodes +[05/24 16:44:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_351 +[05/24 16:44:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_351 in 2.49s (batch: 2.39s, save: 0.09s) +[05/24 16:44:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_351 +[05/24 16:44:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 351: 0/1 successful episodes +[05/24 16:44:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 354 (index 30/84) +[05/24 16:44:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 354 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:44:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:44:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 0/2 collected=0/2 +[05/24 16:44:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:44:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 1/2 collected=1/2 +[05/24 16:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_354: 2 episodes +[05/24 16:46:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_354 in 4.90s (batch: 4.78s, save: 0.12s) +[05/24 16:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 354: 1/2 successful episodes +[05/24 16:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 369 (index 31/84) +[05/24 16:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 369 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_369_ceiling.xml +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=369, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:46:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 369 episode 0/1 collected=0/2 +[05/24 16:46:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 369 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:46:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_369: 1 episodes +[05/24 16:46:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:46:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_369 +[05/24 16:46:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_369 in 2.29s (batch: 2.26s, save: 0.03s) +[05/24 16:46:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_369 +[05/24 16:46:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 369: 1/1 successful episodes +[05/24 16:46:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 375 (index 32/84) +[05/24 16:46:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the peppershaker' +[05/24 16:46:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 0/2 collected=0/2 +[05/24 16:46:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 16:46:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:46:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 1/2 collected=1/2 +[05/24 16:46:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 16:47:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_375: 2 episodes +[05/24 16:47:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:48:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_375 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 16:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 375: 1/2 successful episodes +[05/24 16:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 391 (index 33/84) +[05/24 16:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:48:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 0/2 collected=0/2 +[05/24 16:48:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=True +[05/24 16:48:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:48:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 1/2 collected=1/2 +[05/24 16:48:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:50:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_391: 2 episodes +[05/24 16:50:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_391 in 3.88s (batch: 3.77s, save: 0.11s) +[05/24 16:50:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 391: 1/2 successful episodes +[05/24 16:50:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 404 (index 34/84) +[05/24 16:50:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:50:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_404_ceiling.xml +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=404, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:50:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 404 episode 0/1 collected=0/2 +[05/24 16:50:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 404 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_6 completed with success=False +[05/24 16:51:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_404: 1 episodes +[05/24 16:51:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_404 +[05/24 16:51:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_404 in 2.02s (batch: 1.93s, save: 0.08s) +[05/24 16:52:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_404 +[05/24 16:52:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 404: 0/1 successful episodes +[05/24 16:52:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 417 (index 35/84) +[05/24 16:52:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:52:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:52:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 0/2 collected=0/2 +[05/24 16:52:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent glass bowl' +[05/24 16:52:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 1/2 collected=1/2 +[05/24 16:52:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 16:53:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_417: 2 episodes +[05/24 16:53:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:53:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417 +[05/24 16:53:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_417 in 4.00s (batch: 3.89s, save: 0.11s) +[05/24 16:53:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_417 +[05/24 16:53:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 417: 1/2 successful episodes +[05/24 16:53:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 424 (index 36/84) +[05/24 16:53:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:53:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_424_ceiling.xml +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=424, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:53:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 424 episode 0/1 collected=0/2 +[05/24 16:53:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 424 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=False +[05/24 16:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_424: 1 episodes +[05/24 16:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_424 in 2.57s (batch: 2.44s, save: 0.12s) +[05/24 16:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 424: 0/1 successful episodes +[05/24 16:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 441 (index 37/84) +[05/24 16:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_441_ceiling.xml +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=441, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 16:55:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 441 episode 0/1 collected=0/2 +[05/24 16:55:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 441 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6 completed with success=True +[05/24 16:55:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_441: 1 episodes +[05/24 16:55:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/24 16:55:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_441 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 16:55:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 441: 1/1 successful episodes +[05/24 16:55:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 445 (index 38/84) +[05/24 16:55:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:55:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 0/2 collected=0/2 +[05/24 16:55:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 16:56:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:56:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 1/2 collected=1/2 +[05/24 16:56:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:57:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_445: 2 episodes +[05/24 16:57:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 126 timesteps +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_445 in 4.74s (batch: 4.62s, save: 0.12s) +[05/24 16:57:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 445: 1/2 successful episodes +[05/24 16:57:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 472 (index 39/84) +[05/24 16:57:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:57:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 0/2 collected=0/2 +[05/24 16:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 16:58:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 16:58:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 1/2 collected=1/2 +[05/24 16:58:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 16:59:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_472: 2 episodes +[05/24 16:59:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_472 in 5.01s (batch: 4.83s, save: 0.17s) +[05/24 17:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 472: 0/2 successful episodes +[05/24 17:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 478 (index 40/84) +[05/24 17:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_478_ceiling.xml +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=478, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:00:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 478 episode 0/1 collected=0/2 +[05/24 17:00:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 478 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3 completed with success=False +[05/24 17:01:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_478: 1 episodes +[05/24 17:01:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_478 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:01:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 478: 0/1 successful episodes +[05/24 17:01:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 494 (index 41/84) +[05/24 17:01:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_494_ceiling.xml +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=494, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:01:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 494 episode 0/1 collected=0/2 +[05/24 17:01:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 494 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 17:01:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_494: 1 episodes +[05/24 17:01:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_494 +[05/24 17:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_494 in 2.26s (batch: 2.23s, save: 0.03s) +[05/24 17:01:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_494 +[05/24 17:01:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 494: 1/1 successful episodes +[05/24 17:01:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 508 (index 42/84) +[05/24 17:01:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:01:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 0/2 collected=0/2 +[05/24 17:01:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:02:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:02:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 1/2 collected=1/2 +[05/24 17:02:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=False +[05/24 17:03:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_508: 2 episodes +[05/24 17:03:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:03:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_508 in 3.90s (batch: 3.79s, save: 0.12s) +[05/24 17:03:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 508: 1/2 successful episodes +[05/24 17:03:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 511 (index 43/84) +[05/24 17:03:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:03:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_511_ceiling.xml +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=511, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:03:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 511 episode 0/1 collected=0/2 +[05/24 17:03:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 511 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=False +[05/24 17:05:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_511: 1 episodes +[05/24 17:05:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_511 in 2.04s (batch: 1.96s, save: 0.09s) +[05/24 17:05:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 511: 0/1 successful episodes +[05/24 17:05:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 527 (index 44/84) +[05/24 17:05:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:05:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_527_ceiling.xml +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=527, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:05:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 527 episode 0/1 collected=0/2 +[05/24 17:05:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 527 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:06:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_527: 1 episodes +[05/24 17:06:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_527 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 527: 0/1 successful episodes +[05/24 17:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 537 (index 45/84) +[05/24 17:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the container' +[05/24 17:06:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 0/2 collected=0/2 +[05/24 17:06:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:08:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 17:08:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 1/2 collected=1/2 +[05/24 17:08:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:08:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_537: 2 episodes +[05/24 17:08:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_537 in 3.78s (batch: 3.67s, save: 0.10s) +[05/24 17:08:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 537: 1/2 successful episodes +[05/24 17:08:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 550 (index 46/84) +[05/24 17:08:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:08:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:08:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 0/2 collected=0/2 +[05/24 17:08:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True +[05/24 17:08:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:49 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box' +[05/24 17:08:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 1/2 collected=1/2 +[05/24 17:08:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 1 object box_54d3d4baf11286a2a524395e4a26c893_1_0_6 completed with success=True +[05/24 17:09:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_550: 2 episodes +[05/24 17:09:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_550 in 4.85s (batch: 4.79s, save: 0.06s) +[05/24 17:09:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 550: 2/2 successful episodes +[05/24 17:09:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 553 (index 47/84) +[05/24 17:09:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_553_ceiling.xml +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=553, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray wooden bowl' +[05/24 17:09:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 553 episode 0/1 collected=0/2 +[05/24 17:09:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 553 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 17:09:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_553: 1 episodes +[05/24 17:09:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:09:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_553 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 17:09:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 553: 1/1 successful episodes +[05/24 17:09:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 572 (index 48/84) +[05/24 17:09:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_572_ceiling.xml +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=572, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 17:09:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 572 episode 0/1 collected=0/2 +[05/24 17:09:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 572 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 17:10:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_572: 1 episodes +[05/24 17:10:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_572 +[05/24 17:10:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_572 in 2.11s (batch: 2.02s, save: 0.09s) +[05/24 17:10:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_572 +[05/24 17:10:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 572: 0/1 successful episodes +[05/24 17:10:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 575 (index 49/84) +[05/24 17:10:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:10:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 17:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 0/2 collected=0/2 +[05/24 17:10:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:11:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:11:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 1/2 collected=1/2 +[05/24 17:11:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:12:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_575: 2 episodes +[05/24 17:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:12:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575 +[05/24 17:12:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_575 in 4.81s (batch: 4.69s, save: 0.12s) +[05/24 17:12:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_575 +[05/24 17:12:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 575: 1/2 successful episodes +[05/24 17:12:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 589 (index 50/84) +[05/24 17:12:47 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 589 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:12:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:12:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 0/2 collected=0/2 +[05/24 17:12:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:13:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 1/2 collected=1/2 +[05/24 17:13:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=True +[05/24 17:14:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_589: 2 episodes +[05/24 17:14:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589 +[05/24 17:14:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_589 in 4.79s (batch: 4.67s, save: 0.12s) +[05/24 17:14:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_589 +[05/24 17:14:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 589: 1/2 successful episodes +[05/24 17:14:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 595 (index 51/84) +[05/24 17:14:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_595_ceiling.xml +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=595, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:14:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 595 episode 0/1 collected=0/2 +[05/24 17:14:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 595 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:14:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_595: 1 episodes +[05/24 17:14:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:14:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_595 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 17:14:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 595: 1/1 successful episodes +[05/24 17:14:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 614 (index 52/84) +[05/24 17:14:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_614_ceiling.xml +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=614, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means' +[05/24 17:14:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 614 episode 0/1 collected=0/2 +[05/24 17:14:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 614 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:15:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_614: 1 episodes +[05/24 17:15:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 360 timesteps +[05/24 17:15:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_614 +[05/24 17:15:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_614 in 2.02s (batch: 1.94s, save: 0.08s) +[05/24 17:15:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_614 +[05/24 17:15:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 614: 1/1 successful episodes +[05/24 17:15:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 626 (index 53/84) +[05/24 17:15:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:15:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte blue bowl' +[05/24 17:15:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 0/2 collected=0/2 +[05/24 17:15:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_5 completed with success=True +[05/24 17:15:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 17:16:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 1/2 collected=1/2 +[05/24 17:16:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_2 completed with success=True +[05/24 17:16:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_626: 2 episodes +[05/24 17:16:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_626 in 3.61s (batch: 3.55s, save: 0.06s) +[05/24 17:16:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 626: 2/2 successful episodes +[05/24 17:16:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 640 (index 54/84) +[05/24 17:16:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:16:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:16:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 0/2 collected=0/2 +[05/24 17:16:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 17:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent plastic cup' +[05/24 17:17:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 1/2 collected=1/2 +[05/24 17:17:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:19:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_640: 2 episodes +[05/24 17:19:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_640 in 4.13s (batch: 3.93s, save: 0.19s) +[05/24 17:19:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 640: 0/2 successful episodes +[05/24 17:19:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 642 (index 55/84) +[05/24 17:19:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_642_ceiling.xml +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=642, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 17:19:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 642 episode 0/1 collected=0/2 +[05/24 17:19:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 642 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=True +[05/24 17:19:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_642: 1 episodes +[05/24 17:19:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:19:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_642 in 1.84s (batch: 1.81s, save: 0.03s) +[05/24 17:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 642: 1/1 successful episodes +[05/24 17:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 665 (index 56/84) +[05/24 17:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_665_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=665, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 665 episode 0/1 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 665 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=False +[05/24 17:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_665: 1 episodes +[05/24 17:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_665 +[05/24 17:20:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_665 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:20:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_665 +[05/24 17:20:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 665: 0/1 successful episodes +[05/24 17:20:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 669 (index 57/84) +[05/24 17:20:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 669 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:20:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:20:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 0/2 collected=0/2 +[05/24 17:20:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_8 completed with success=False +[05/24 17:22:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:22:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 1/2 collected=1/2 +[05/24 17:22:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:23:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_669: 2 episodes +[05/24 17:23:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669 +[05/24 17:23:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_669 in 4.12s (batch: 3.96s, save: 0.16s) +[05/24 17:23:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_669 +[05/24 17:23:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 669: 0/2 successful episodes +[05/24 17:23:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 688 (index 58/84) +[05/24 17:23:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:23:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_688_ceiling.xml +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=688, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:23:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 688 episode 0/1 collected=0/2 +[05/24 17:23:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 688 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_688: 1 episodes +[05/24 17:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_688 +[05/24 17:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_688 in 2.48s (batch: 2.37s, save: 0.11s) +[05/24 17:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_688 +[05/24 17:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 688: 0/1 successful episodes +[05/24 17:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 702 (index 59/84) +[05/24 17:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_702_ceiling.xml +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=702, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:25:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 702 episode 0/1 collected=0/2 +[05/24 17:25:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 702 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 17:26:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_702: 1 episodes +[05/24 17:26:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_702 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:26:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 702: 0/1 successful episodes +[05/24 17:26:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 704 (index 60/84) +[05/24 17:26:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:26:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:26:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 0/2 collected=0/2 +[05/24 17:26:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False +[05/24 17:28:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:28:14 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown cardboard box with flaps' +[05/24 17:28:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 1/2 collected=1/2 +[05/24 17:28:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_4 completed with success=False +[05/24 17:29:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_704: 2 episodes +[05/24 17:29:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_704 in 4.25s (batch: 4.07s, save: 0.18s) +[05/24 17:29:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 704: 0/2 successful episodes +[05/24 17:29:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 724 (index 61/84) +[05/24 17:29:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:29:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_724_ceiling.xml +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=724, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 87 objects +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl with rim' +[05/24 17:29:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 724 episode 0/1 collected=0/2 +[05/24 17:29:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 724 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_3 completed with success=True +[05/24 17:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_724: 1 episodes +[05/24 17:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 61 timesteps +[05/24 17:30:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_724 in 1.83s (batch: 1.80s, save: 0.03s) +[05/24 17:30:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 724: 1/1 successful episodes +[05/24 17:30:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 738 (index 62/84) +[05/24 17:30:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:30:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:30:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 0/2 collected=0/2 +[05/24 17:30:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_2_0_2 completed with success=False +[05/24 17:31:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:31:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 1/2 collected=1/2 +[05/24 17:31:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:33:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_738: 2 episodes +[05/24 17:33:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738 +[05/24 17:33:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_738 in 4.92s (batch: 4.75s, save: 0.17s) +[05/24 17:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_738 +[05/24 17:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 738: 0/2 successful episodes +[05/24 17:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 749 (index 63/84) +[05/24 17:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_749_ceiling.xml +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=749, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 17:33:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 749 episode 0/1 collected=0/2 +[05/24 17:33:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 749 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:33:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_749: 1 episodes +[05/24 17:33:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/24 17:33:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_749 in 2.23s (batch: 2.20s, save: 0.03s) +[05/24 17:33:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 749: 1/1 successful episodes +[05/24 17:33:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 767 (index 64/84) +[05/24 17:33:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_767_ceiling.xml +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=767, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 17:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 767 episode 0/1 collected=0/2 +[05/24 17:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 767 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:34:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_767: 1 episodes +[05/24 17:34:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 346 timesteps +[05/24 17:34:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_767 +[05/24 17:34:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_767 in 2.46s (batch: 2.39s, save: 0.08s) +[05/24 17:34:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_767 +[05/24 17:34:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 767: 1/1 successful episodes +[05/24 17:34:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 772 (index 65/84) +[05/24 17:34:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:34:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:34:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 0/2 collected=0/2 +[05/24 17:34:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:34:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:35:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 1/2 collected=1/2 +[05/24 17:35:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 17:35:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_772: 2 episodes +[05/24 17:35:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 17:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_772 in 4.52s (batch: 4.46s, save: 0.06s) +[05/24 17:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 772: 2/2 successful episodes +[05/24 17:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 788 (index 66/84) +[05/24 17:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:35:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_788_ceiling.xml +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=788, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:35:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 788 episode 0/1 collected=0/2 +[05/24 17:35:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 788 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 17:36:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_788: 1 episodes +[05/24 17:36:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_788 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 788: 0/1 successful episodes +[05/24 17:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 804 (index 67/84) +[05/24 17:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 804 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:36:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 0/2 collected=0/2 +[05/24 17:36:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 17:38:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 17:38:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 1/2 collected=1/2 +[05/24 17:38:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 1 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_6 completed with success=True +[05/24 17:38:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_804: 2 episodes +[05/24 17:38:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_804 in 3.84s (batch: 3.71s, save: 0.13s) +[05/24 17:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 804: 1/2 successful episodes +[05/24 17:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 820 (index 68/84) +[05/24 17:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 820 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_820_ceiling.xml +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=820, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:38:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 820 episode 0/1 collected=0/2 +[05/24 17:38:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 820 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 17:39:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_820: 1 episodes +[05/24 17:39:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_820 in 2.07s (batch: 1.98s, save: 0.10s) +[05/24 17:39:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 820: 0/1 successful episodes +[05/24 17:39:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 831 (index 69/84) +[05/24 17:39:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 831 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:39:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:39:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 0/2 collected=0/2 +[05/24 17:39:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:41:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:41:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 1/2 collected=1/2 +[05/24 17:41:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 17:41:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_831: 2 episodes +[05/24 17:41:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831 +[05/24 17:41:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_831 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 17:41:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_831 +[05/24 17:41:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 831: 1/2 successful episodes +[05/24 17:41:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 844 (index 70/84) +[05/24 17:41:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 844 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:41:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass pepper shaker' +[05/24 17:41:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 0/2 collected=0/2 +[05/24 17:41:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_8 completed with success=True +[05/24 17:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plastic cup' +[05/24 17:41:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 1/2 collected=1/2 +[05/24 17:41:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=False +[05/24 17:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_844: 2 episodes +[05/24 17:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:43:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844 +[05/24 17:43:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_844 in 4.78s (batch: 4.66s, save: 0.12s) +[05/24 17:43:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_844 +[05/24 17:43:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 844: 1/2 successful episodes +[05/24 17:43:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 849 (index 71/84) +[05/24 17:43:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 849 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_849_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=849, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 849 episode 0/1 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 849 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 17:43:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_849: 1 episodes +[05/24 17:43:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 17:43:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_849 in 2.31s (batch: 2.27s, save: 0.04s) +[05/24 17:43:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 849: 1/1 successful episodes +[05/24 17:43:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 867 (index 72/84) +[05/24 17:43:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:43:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 0/2 collected=0/2 +[05/24 17:44:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 17:44:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:44:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 1/2 collected=1/2 +[05/24 17:44:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=True +[05/24 17:44:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_867: 2 episodes +[05/24 17:44:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_867 in 3.57s (batch: 3.51s, save: 0.05s) +[05/24 17:44:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 867: 2/2 successful episodes +[05/24 17:44:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 885 (index 73/84) +[05/24 17:44:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:44:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 0/2 collected=0/2 +[05/24 17:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 17:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:44:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 1/2 collected=1/2 +[05/24 17:44:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_885: 2 episodes +[05/24 17:46:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885 +[05/24 17:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_885 in 4.94s (batch: 4.83s, save: 0.11s) +[05/24 17:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_885 +[05/24 17:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 885: 1/2 successful episodes +[05/24 17:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 890 (index 74/84) +[05/24 17:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_890_ceiling.xml +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=890, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 17:46:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 890 episode 0/1 collected=0/2 +[05/24 17:46:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 890 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7 completed with success=True +[05/24 17:46:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_890: 1 episodes +[05/24 17:46:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 116 timesteps +[05/24 17:46:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_890 in 1.83s (batch: 1.79s, save: 0.04s) +[05/24 17:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 890: 1/1 successful episodes +[05/24 17:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 898 (index 75/84) +[05/24 17:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 17:46:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 0/2 collected=0/2 +[05/24 17:46:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=False +[05/24 17:48:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 17:48:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 1/2 collected=1/2 +[05/24 17:48:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 17:49:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_898: 2 episodes +[05/24 17:49:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898 +[05/24 17:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_898 in 4.48s (batch: 4.29s, save: 0.19s) +[05/24 17:49:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_898 +[05/24 17:49:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 898: 0/2 successful episodes +[05/24 17:49:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 916 (index 76/84) +[05/24 17:49:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:49:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:49:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 0/2 collected=0/2 +[05/24 17:49:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:51:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:52:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 1/2 collected=1/2 +[05/24 17:52:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=True +[05/24 17:52:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_916: 2 episodes +[05/24 17:52:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916 +[05/24 17:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_916 in 4.84s (batch: 4.71s, save: 0.14s) +[05/24 17:52:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_916 +[05/24 17:52:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 916: 1/2 successful episodes +[05/24 17:52:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 923 (index 77/84) +[05/24 17:52:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_923_ceiling.xml +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=923, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 923 episode 0/1 collected=0/2 +[05/24 17:52:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 923 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:52:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_923: 1 episodes +[05/24 17:52:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:52:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_923 in 1.81s (batch: 1.78s, save: 0.03s) +[05/24 17:52:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 923: 1/1 successful episodes +[05/24 17:52:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 941 (index 78/84) +[05/24 17:52:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:52:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 0/2 collected=0/2 +[05/24 17:52:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2 completed with success=True +[05/24 17:53:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:53:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 1/2 collected=1/2 +[05/24 17:53:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 17:54:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_941: 2 episodes +[05/24 17:54:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:54:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941 +[05/24 17:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_941 in 4.73s (batch: 4.60s, save: 0.12s) +[05/24 17:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_941 +[05/24 17:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 941: 1/2 successful episodes +[05/24 17:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 942 (index 79/84) +[05/24 17:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_942_ceiling.xml +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=942, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:54:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 942 episode 0/1 collected=0/2 +[05/24 17:54:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 942 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:55:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_942: 1 episodes +[05/24 17:55:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_942 in 1.99s (batch: 1.90s, save: 0.09s) +[05/24 17:55:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 942: 0/1 successful episodes +[05/24 17:55:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 955 (index 80/84) +[05/24 17:55:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:55:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_955_ceiling.xml +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=955, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:55:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 955 episode 0/1 collected=0/2 +[05/24 17:55:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 955 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:56:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_955: 1 episodes +[05/24 17:56:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 262 timesteps +[05/24 17:56:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955 +[05/24 17:56:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_955 in 1.95s (batch: 1.89s, save: 0.06s) +[05/24 17:56:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_955 +[05/24 17:56:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 955: 1/1 successful episodes +[05/24 17:56:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 963 (index 81/84) +[05/24 17:56:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:56:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:56:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 0/2 collected=0/2 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10 completed with success=True +[05/24 17:57:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 17:57:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 1/2 collected=1/2 +[05/24 17:57:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 1 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=True +[05/24 17:57:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_963: 2 episodes +[05/24 17:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:57:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 38 timesteps +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_963 in 3.58s (batch: 3.52s, save: 0.05s) +[05/24 17:57:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 963: 2/2 successful episodes +[05/24 17:57:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 982 (index 82/84) +[05/24 17:57:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:57:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 17:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 0/2 collected=0/2 +[05/24 17:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_2 completed with success=True +[05/24 17:58:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:58:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 1/2 collected=1/2 +[05/24 17:58:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:59:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_982: 2 episodes +[05/24 17:59:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 271 timesteps +[05/24 17:59:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982 +[05/24 17:59:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_982 in 4.93s (batch: 4.79s, save: 0.14s) +[05/24 17:59:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_982 +[05/24 17:59:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 982: 1/2 successful episodes +[05/24 17:59:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 994 (index 83/84) +[05/24 17:59:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:59:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_994_ceiling.xml +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=994, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:59:30 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the carton' +[05/24 17:59:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 994 episode 0/1 collected=0/2 +[05/24 17:59:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 994 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_2 completed with success=True +[05/24 17:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_994: 1 episodes +[05/24 17:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 17:59:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994 +[05/24 17:59:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_994 in 2.22s (batch: 2.18s, save: 0.04s) +[05/24 17:59:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_994 +[05/24 17:59:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 994: 1/1 successful episodes +[05/24 17:59:47 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:59:47 INFO pipeline.py:1496] Completed 84 houses, skipped 0 houses +[05/24 17:59:47 INFO pipeline.py:1499] Success count: 68, Total count: 125 +[05/24 17:59:47 INFO pipeline.py:1500] Success rate: 54.40% +Combined 125 episodes from 84 files → /tmp/tmp9xmaylc0.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv at-end: 54.4% | oracle: 54.4% of 125 episodes +[2026-05-24 17:59:55,660] INFO MolmoSpaces simulator eval finished: success=68/125 rate=0.5440 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval +[2026-05-24 17:59:55,660] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv diff --git a/pick_msproc/pick_msproc/shards/shard_07/eval/eval_meta.json b/pick_msproc/pick_msproc/shards/shard_07/eval/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8736ee4803462c47cbcc51ad7c4e5929031e22 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/eval/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv" +} diff --git a/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv b/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..35a19e0a0109a55912220c79496e1e396f859d64 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,3,9,33.33,12.16,65.25,3,33.33,12.16,65.25,238.012696,97.08118 +latest,Bowl,9,11,81.82,51.59,94.51,9,81.82,51.59,94.51,216.024102,122.7384 +latest,Box,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,175.470232,94.524063 +latest,Cup,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,272.133281,131.491164 +latest,Fork,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,116.135712,80.971775 +latest,Fruit,0,6,0.0,0.36,40.96,0,0.0,0.36,40.96,244.492525,81.747558 +latest,Kettle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,146.624678,78.516675 +latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,158.645405,57.92845 +latest,Ladle,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,188.669908,92.511738 +latest,Mug,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,111.908936,24.392105 +latest,Pot,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,188.161326,110.116833 +latest,Remote Control,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,140.677675,94.388799 +latest,S/p Shaker,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,202.86921,99.647116 +latest,Soap Dispenser,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,232.100651,104.493307 +latest,Spatula,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,105.791595,55.905217 +latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,167.190957,103.781151 +latest,Spray Bottle,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,170.451131,133.594648 +latest,Tissue Paper,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,223.998172,143.483504 +latest,OVERALL,68,125,54.4,45.65,62.88,68,54.4,45.65,62.88,183.983336,109.641441 diff --git a/pick_msproc/pick_msproc/shards/shard_07/eval/summary.json b/pick_msproc/pick_msproc/shards/shard_07/eval/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d52554ded8ebc29758f0b0d460aa15cceba65242 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/eval/summary.json @@ -0,0 +1,172 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "exo_camera_1", + "wrist_camera" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.544, + "success_count": 68.0, + "total_episodes": 125.0, + "avg_episode_length": 252.608, + "oracle_done_rate": 0.544, + "success_rate_pct": 54.4, + "oracle_rate_pct": 54.4 + }, + "stats": { + "total_episodes": 125, + "success_count": 68, + "failure_count": 57, + "success_rate": 0.544, + "avg_episode_length": 252.608, + "min_episode_length": 31, + "max_episode_length": 449, + "num_houses": 84, + "house_success_rates": { + "house_1": 1.0, + "house_102": 1.0, + "house_112": 0.5, + "house_128": 1.0, + "house_138": 1.0, + "house_15": 1.0, + "house_155": 1.0, + "house_159": 0.0, + "house_182": 0.0, + "house_192": 0.5, + "house_196": 1.0, + "house_21": 1.0, + "house_215": 0.0, + "house_227": 1.0, + "house_243": 0.0, + "house_248": 1.0, + "house_258": 1.0, + "house_278": 1.0, + "house_286": 1.0, + "house_306": 0.0, + "house_314": 0.0, + "house_32": 0.0, + "house_329": 1.0, + "house_330": 0.5, + "house_351": 0.0, + "house_354": 0.5, + "house_369": 1.0, + "house_375": 0.5, + "house_391": 0.5, + "house_404": 0.0, + "house_417": 0.5, + "house_424": 0.0, + "house_441": 1.0, + "house_445": 0.5, + "house_45": 1.0, + "house_472": 0.0, + "house_478": 0.0, + "house_494": 1.0, + "house_508": 0.5, + "house_511": 0.0, + "house_527": 0.0, + "house_537": 0.5, + "house_550": 1.0, + "house_553": 1.0, + "house_572": 0.0, + "house_575": 0.5, + "house_589": 0.5, + "house_595": 1.0, + "house_614": 1.0, + "house_626": 1.0, + "house_640": 0.0, + "house_642": 1.0, + "house_665": 0.0, + "house_669": 0.0, + "house_68": 1.0, + "house_688": 0.0, + "house_702": 0.0, + "house_704": 0.0, + "house_71": 0.5, + "house_724": 1.0, + "house_738": 0.0, + "house_749": 1.0, + "house_767": 1.0, + "house_772": 1.0, + "house_788": 0.0, + "house_804": 0.5, + "house_820": 0.0, + "house_831": 0.5, + "house_844": 0.5, + "house_849": 1.0, + "house_867": 1.0, + "house_87": 0.0, + "house_885": 0.5, + "house_890": 1.0, + "house_898": 0.0, + "house_90": 0.0, + "house_916": 0.5, + "house_923": 1.0, + "house_941": 0.5, + "house_942": 0.0, + "house_955": 1.0, + "house_963": 1.0, + "house_982": 0.5, + "house_994": 1.0 + }, + "oracle_done_count": 68, + "oracle_done_rate": 0.544, + "avg_successful_episode_length": 87.98529411764706 + }, + "success_count": 68, + "total_count": 125, + "success_rate": 0.544, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 68, + "total": 125, + "success_rate_pct": 54.4, + "ci_95_low_pct": 45.65, + "ci_95_high_pct": 62.88, + "oracle_successes": 68, + "oracle_rate_pct": 54.4, + "oracle_ci_95_low_pct": 45.65, + "oracle_ci_95_high_pct": 62.88, + "jerk_joint_mean": 183.983336, + "jerk_joint_std": 109.641441 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/episode_results.jsonl b/pick_msproc/pick_msproc/shards/shard_07/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bbeda3593145cf2a469abf3aa9994436d810a7d6 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/episode_results.jsonl @@ -0,0 +1,125 @@ +{"house_id": "house_1", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 125, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_102", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 62, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_102", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the shiny silver metallic kettle with handle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_112", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 100, "task_description": "Pick up the light wooden cup with rim", "object_name": "cup_4697b73732349085e30935e0f35566dc_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_112", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle with golden pump", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_128", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 55, "task_description": "Pick up the light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_128", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 110, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_138", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the spray bottle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_138/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_15", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 265, "task_description": "Pick up the blue cooking pot with handles", "object_name": "pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_15/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_155", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 74, "task_description": "Pick up the green ladle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_155", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 31, "task_description": "Pick up the dark green wine 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false, "num_steps": 449, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_182/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_192", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the butterknife", "object_name": "butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_192", "episode_idx": 1, 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polished butter knife with handle", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_941", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the butterknife", "object_name": "butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_942", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_955", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 260, "task_description": "Pick up the matte dark gray bowl", "object_name": "bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_963", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 70, "task_description": "Pick up the slim black remote with buttons", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_963", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 36, "task_description": "Pick up the smooth shallow light brown bowl", "object_name": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_982", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 269, "task_description": "Pick up the cookware", "object_name": "pot_811f072cf19900b4e135f7de5cb90e81_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_982", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the shiny silver metallic kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_994", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 72, "task_description": "Pick up the carton", "object_name": "box_7c54a26cba93093ca8aceb6fbac82646_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/eval.log b/pick_msproc/pick_msproc/shards/shard_07/submission/eval.log new file mode 100644 index 0000000000000000000000000000000000000000..2f4eb799b06b4c55a380b8187b6c1cb3967b402f --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/eval.log @@ -0,0 +1,2968 @@ +[2026-05-24 15:59:54,437] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,516] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,549] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 (source=arg) +[2026-05-24 15:59:56,841] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,288] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,671] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,671] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,059] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,118] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,155] INFO JsonEvalRunner initialized: 84 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 84 houses with 2 episodes each (168 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [1, + 15, + 21, + 32, + 45, + 68, + 71, + 87, + 90, + 102, + 112, + 128, + 138, + 155, + 159, + 182, + 192, + 196, + 215, + 227, + 243, + 248, + 258, + 278, + 286, + 306, + 314, + 329, + 330, + 351, + 354, + 369, + 375, + 391, + 404, + 417, + 424, + 441, + 445, + 472, + 478, + 494, + 508, + 511, + 527, + 537, + 550, + 553, + 572, + 575, + 589, + 595, + 614, + 626, + 640, + 642, + 665, + 669, + 688, + 702, + 704, + 724, + 738, + 749, + 767, + 772, + 788, + 804, + 820, + 831, + 844, + 849, + 867, + 885, + 890, + 898, + 916, + 923, + 941, + 942, + 955, + 963, + 982, + 994], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,162] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1 (index 0/84) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:46,650:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:46,650] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_1_ceiling.xml +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=1, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:04:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 1 episode 0/1 collected=0/2 +[05/24 16:04:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:48.527 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:49,549] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:49,893] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:04:50,598] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:04:59,201] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:04:59,210] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:05:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 16:05:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1: 1 episodes +[05/24 16:05:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:05:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:05:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1 +[05/24 16:05:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1 in 2.14s (batch: 2.08s, save: 0.06s) +[05/24 16:05:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1 +[05/24 16:05:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1: 1/1 successful episodes +[05/24 16:05:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 15 (index 1/84) +[05/24 16:05:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 15 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:05:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:05:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_15_ceiling.xml +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=15, scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:05:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:05:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:05:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 15 episode 0/1 collected=0/2 +[05/24 16:05:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:05:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 15 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:07:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_15: 1 episodes +[05/24 16:07:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 267 timesteps +[05/24 16:07:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_15 in 1.92s (batch: 1.85s, save: 0.07s) +[05/24 16:07:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 15: 1/1 successful episodes +[05/24 16:07:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 21 (index 2/84) +[05/24 16:07:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 21 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:07:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 0/2 collected=0/2 +[05/24 16:07:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:07:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 1/2 collected=1/2 +[05/24 16:07:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 16:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_21: 2 episodes +[05/24 16:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:07:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_21 +[05/24 16:07:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_21 in 4.08s (batch: 4.02s, save: 0.05s) +[05/24 16:07:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_21 +[05/24 16:07:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 21: 2/2 successful episodes +[05/24 16:07:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 32 (index 3/84) +[05/24 16:07:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 32 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:07:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 0/2 collected=0/2 +[05/24 16:07:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:09:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:09:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 1/2 collected=1/2 +[05/24 16:09:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:10:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_32: 2 episodes +[05/24 16:10:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:11:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_32 in 4.92s (batch: 4.74s, save: 0.18s) +[05/24 16:11:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 32: 0/2 successful episodes +[05/24 16:11:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 45 (index 4/84) +[05/24 16:11:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 45 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_45_ceiling.xml +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=45, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 16:11:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 45 episode 0/1 collected=0/2 +[05/24 16:11:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 45 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True +[05/24 16:11:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_45: 1 episodes +[05/24 16:11:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 16:11:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_45 +[05/24 16:11:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_45 in 1.82s (batch: 1.79s, save: 0.03s) +[05/24 16:11:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_45 +[05/24 16:11:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 45: 1/1 successful episodes +[05/24 16:11:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 68 (index 5/84) +[05/24 16:11:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 68 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_68_ceiling.xml +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=68, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:11:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 68 episode 0/1 collected=0/2 +[05/24 16:11:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 68 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:11:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_68: 1 episodes +[05/24 16:11:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:11:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_68 +[05/24 16:11:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_68 in 2.24s (batch: 2.21s, save: 0.03s) +[05/24 16:11:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_68 +[05/24 16:11:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 68: 1/1 successful episodes +[05/24 16:11:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 71 (index 6/84) +[05/24 16:11:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 71 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:11:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 0/2 collected=0/2 +[05/24 16:11:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:12:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium ripe red tomato with stem' +[05/24 16:12:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 1/2 collected=1/2 +[05/24 16:12:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 1 object tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_2 completed with success=False +[05/24 16:13:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_71: 2 episodes +[05/24 16:13:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71 +[05/24 16:13:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_71 in 4.01s (batch: 3.90s, save: 0.12s) +[05/24 16:13:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_71 +[05/24 16:13:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 71: 1/2 successful episodes +[05/24 16:13:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 87 (index 7/84) +[05/24 16:13:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 87 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:13:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:13:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 0/2 collected=0/2 +[05/24 16:13:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=False +[05/24 16:15:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:15:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 1/2 collected=1/2 +[05/24 16:15:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 16:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_87: 2 episodes +[05/24 16:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_87 in 4.25s (batch: 4.09s, save: 0.16s) +[05/24 16:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 87: 0/2 successful episodes +[05/24 16:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 90 (index 8/84) +[05/24 16:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 90 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_90_ceiling.xml +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=90, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:16:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 90 episode 0/1 collected=0/2 +[05/24 16:16:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 90 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:18:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_90: 1 episodes +[05/24 16:18:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_90 in 2.50s (batch: 2.42s, save: 0.09s) +[05/24 16:18:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 90: 0/1 successful episodes +[05/24 16:18:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 102 (index 9/84) +[05/24 16:18:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:18:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 0/2 collected=0/2 +[05/24 16:18:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:18:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:18:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 1/2 collected=1/2 +[05/24 16:18:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:18:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_102: 2 episodes +[05/24 16:18:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:18:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102 +[05/24 16:18:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_102 in 3.58s (batch: 3.53s, save: 0.05s) +[05/24 16:18:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_102 +[05/24 16:18:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 102: 2/2 successful episodes +[05/24 16:18:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 112 (index 10/84) +[05/24 16:18:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with rim' +[05/24 16:18:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 0/2 collected=0/2 +[05/24 16:18:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 0 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 16:19:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:19:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 1/2 collected=1/2 +[05/24 16:19:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 16:20:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_112: 2 episodes +[05/24 16:20:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 102 timesteps +[05/24 16:20:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_112 in 3.91s (batch: 3.80s, save: 0.11s) +[05/24 16:20:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 112: 1/2 successful episodes +[05/24 16:20:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 128 (index 11/84) +[05/24 16:20:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:20:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:20:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 0/2 collected=0/2 +[05/24 16:20:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 16:20:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:20:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 1/2 collected=1/2 +[05/24 16:20:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:21:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_128: 2 episodes +[05/24 16:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:21:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128 +[05/24 16:21:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_128 in 3.71s (batch: 3.64s, save: 0.07s) +[05/24 16:21:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_128 +[05/24 16:21:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 128: 2/2 successful episodes +[05/24 16:21:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 138 (index 12/84) +[05/24 16:21:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 138 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_138_ceiling.xml +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=138, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray bottle' +[05/24 16:21:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 138 episode 0/1 collected=0/2 +[05/24 16:21:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 138 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:21:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_138: 1 episodes +[05/24 16:21:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:21:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_138 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:21:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 138: 1/1 successful episodes +[05/24 16:21:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 155 (index 13/84) +[05/24 16:21:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:21:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 0/2 collected=0/2 +[05/24 16:21:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 16:21:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 1/2 collected=1/2 +[05/24 16:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:21:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_155: 2 episodes +[05/24 16:21:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 16:21:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_155 in 3.59s (batch: 3.54s, save: 0.05s) +[05/24 16:21:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 155: 2/2 successful episodes +[05/24 16:21:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 159 (index 14/84) +[05/24 16:21:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_159_ceiling.xml +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=159, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:22:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 159 episode 0/1 collected=0/2 +[05/24 16:22:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 159 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_159: 1 episodes +[05/24 16:23:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_159 +[05/24 16:23:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_159 in 2.59s (batch: 2.49s, save: 0.10s) +[05/24 16:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_159 +[05/24 16:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 159: 0/1 successful episodes +[05/24 16:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 182 (index 15/84) +[05/24 16:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_182_ceiling.xml +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=182, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 99 objects +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:23:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 182 episode 0/1 collected=0/2 +[05/24 16:23:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 182 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:25:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_182: 1 episodes +[05/24 16:25:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_182 in 2.08s (batch: 1.98s, save: 0.10s) +[05/24 16:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 182: 0/1 successful episodes +[05/24 16:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 192 (index 16/84) +[05/24 16:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:25:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 0/2 collected=0/2 +[05/24 16:25:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:25:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:25:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 1/2 collected=1/2 +[05/24 16:25:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:27:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_192: 2 episodes +[05/24 16:27:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:27:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192 +[05/24 16:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_192 in 4.03s (batch: 3.91s, save: 0.12s) +[05/24 16:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_192 +[05/24 16:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 192: 1/2 successful episodes +[05/24 16:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 196 (index 17/84) +[05/24 16:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_196_ceiling.xml +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=196, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 16:27:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 196 episode 0/1 collected=0/2 +[05/24 16:27:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 196 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 16:27:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_196: 1 episodes +[05/24 16:27:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 16:27:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_196 in 2.23s (batch: 2.17s, save: 0.05s) +[05/24 16:27:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 196: 1/1 successful episodes +[05/24 16:27:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 215 (index 18/84) +[05/24 16:27:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_215_ceiling.xml +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=215, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:27:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 215 episode 0/1 collected=0/2 +[05/24 16:27:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 215 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_215: 1 episodes +[05/24 16:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_215 in 2.75s (batch: 2.65s, save: 0.10s) +[05/24 16:28:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 215: 0/1 successful episodes +[05/24 16:28:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 227 (index 19/84) +[05/24 16:28:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:28:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:28:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 0/2 collected=0/2 +[05/24 16:28:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:29:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:29:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 1/2 collected=1/2 +[05/24 16:29:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:29:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_227: 2 episodes +[05/24 16:29:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:29:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_227 in 4.54s (batch: 4.49s, save: 0.06s) +[05/24 16:29:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 227: 2/2 successful episodes +[05/24 16:29:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 243 (index 20/84) +[05/24 16:29:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 243 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:29:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_243_ceiling.xml +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=243, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:29:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 243 episode 0/1 collected=0/2 +[05/24 16:29:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 243 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:30:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_243: 1 episodes +[05/24 16:30:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_243 in 2.06s (batch: 1.98s, save: 0.08s) +[05/24 16:30:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 243: 0/1 successful episodes +[05/24 16:30:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 248 (index 21/84) +[05/24 16:30:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:30:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:30:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 0/2 collected=0/2 +[05/24 16:30:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 16:31:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:31:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 1/2 collected=1/2 +[05/24 16:31:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_248: 2 episodes +[05/24 16:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_248 in 4.53s (batch: 4.47s, save: 0.06s) +[05/24 16:31:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 248: 2/2 successful episodes +[05/24 16:31:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 258 (index 22/84) +[05/24 16:31:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_258_ceiling.xml +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=258, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:31:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 258 episode 0/1 collected=0/2 +[05/24 16:31:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 258 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 16:31:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_258: 1 episodes +[05/24 16:31:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:31:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_258 +[05/24 16:31:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_258 in 1.88s (batch: 1.85s, save: 0.03s) +[05/24 16:31:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_258 +[05/24 16:31:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 258: 1/1 successful episodes +[05/24 16:31:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 278 (index 23/84) +[05/24 16:31:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 16:31:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 0/2 collected=0/2 +[05/24 16:31:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_7 completed with success=True +[05/24 16:32:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:32:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 1/2 collected=1/2 +[05/24 16:32:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_278: 2 episodes +[05/24 16:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 232 timesteps +[05/24 16:33:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_278 in 4.69s (batch: 4.60s, save: 0.09s) +[05/24 16:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 278: 2/2 successful episodes +[05/24 16:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 286 (index 24/84) +[05/24 16:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_286_ceiling.xml +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=286, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:33:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 286 episode 0/1 collected=0/2 +[05/24 16:33:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 286 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:33:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_286: 1 episodes +[05/24 16:33:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 16:33:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_286 +[05/24 16:33:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_286 in 1.86s (batch: 1.83s, save: 0.03s) +[05/24 16:33:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_286 +[05/24 16:33:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 286: 1/1 successful episodes +[05/24 16:33:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 306 (index 25/84) +[05/24 16:33:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 0/2 collected=0/2 +[05/24 16:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_5 completed with success=False +[05/24 16:34:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife blade' +[05/24 16:35:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 1/2 collected=1/2 +[05/24 16:35:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[2026-05-24 16:36:08,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/24 16:36:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 1 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_8 completed with success=False +[05/24 16:38:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_306: 2 episodes +[05/24 16:38:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306 +[05/24 16:38:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_306 in 5.18s (batch: 5.00s, save: 0.18s) +[05/24 16:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_306 +[05/24 16:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 306: 0/2 successful episodes +[05/24 16:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 314 (index 26/84) +[05/24 16:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_314_ceiling.xml +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=314, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 16:38:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 314 episode 0/1 collected=0/2 +[05/24 16:38:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 314 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 16:39:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_314: 1 episodes +[05/24 16:39:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_314 +[05/24 16:39:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_314 in 2.07s (batch: 1.99s, save: 0.08s) +[05/24 16:39:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_314 +[05/24 16:39:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 314: 0/1 successful episodes +[05/24 16:39:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 329 (index 27/84) +[05/24 16:39:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:39:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_329_ceiling.xml +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=329, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:39:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 329 episode 0/1 collected=0/2 +[05/24 16:39:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 329 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 completed with success=True +[05/24 16:40:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_329: 1 episodes +[05/24 16:40:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 158 timesteps +[05/24 16:40:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_329 in 1.90s (batch: 1.86s, save: 0.05s) +[05/24 16:40:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 329: 1/1 successful episodes +[05/24 16:40:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 330 (index 28/84) +[05/24 16:40:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 330 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:40:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box' +[05/24 16:40:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 0/2 collected=0/2 +[05/24 16:40:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 16:40:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:40:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 1/2 collected=1/2 +[05/24 16:40:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:42:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_330: 2 episodes +[05/24 16:42:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:42:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330 +[05/24 16:42:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_330 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:42:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_330 +[05/24 16:42:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 330: 1/2 successful episodes +[05/24 16:42:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 351 (index 29/84) +[05/24 16:42:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:42:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_351_ceiling.xml +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=351, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 16:42:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 16:42:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 351 episode 0/1 collected=0/2 +[05/24 16:42:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 351 episode 0 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 16:44:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_351: 1 episodes +[05/24 16:44:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_351 +[05/24 16:44:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_351 in 2.49s (batch: 2.39s, save: 0.09s) +[05/24 16:44:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_351 +[05/24 16:44:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 351: 0/1 successful episodes +[05/24 16:44:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 354 (index 30/84) +[05/24 16:44:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 354 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:44:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:44:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 0/2 collected=0/2 +[05/24 16:44:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:44:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 1/2 collected=1/2 +[05/24 16:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_354: 2 episodes +[05/24 16:46:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_354 in 4.90s (batch: 4.78s, save: 0.12s) +[05/24 16:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 354: 1/2 successful episodes +[05/24 16:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 369 (index 31/84) +[05/24 16:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 369 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_369_ceiling.xml +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=369, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:46:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 369 episode 0/1 collected=0/2 +[05/24 16:46:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 369 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:46:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_369: 1 episodes +[05/24 16:46:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:46:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_369 +[05/24 16:46:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_369 in 2.29s (batch: 2.26s, save: 0.03s) +[05/24 16:46:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_369 +[05/24 16:46:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 369: 1/1 successful episodes +[05/24 16:46:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 375 (index 32/84) +[05/24 16:46:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the peppershaker' +[05/24 16:46:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 0/2 collected=0/2 +[05/24 16:46:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 16:46:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:46:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 1/2 collected=1/2 +[05/24 16:46:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 16:47:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_375: 2 episodes +[05/24 16:47:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:48:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_375 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 16:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 375: 1/2 successful episodes +[05/24 16:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 391 (index 33/84) +[05/24 16:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:48:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 0/2 collected=0/2 +[05/24 16:48:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=True +[05/24 16:48:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:48:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 1/2 collected=1/2 +[05/24 16:48:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:50:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_391: 2 episodes +[05/24 16:50:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_391 in 3.88s (batch: 3.77s, save: 0.11s) +[05/24 16:50:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 391: 1/2 successful episodes +[05/24 16:50:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 404 (index 34/84) +[05/24 16:50:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:50:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_404_ceiling.xml +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=404, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:50:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 404 episode 0/1 collected=0/2 +[05/24 16:50:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 404 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_6 completed with success=False +[05/24 16:51:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_404: 1 episodes +[05/24 16:51:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_404 +[05/24 16:51:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_404 in 2.02s (batch: 1.93s, save: 0.08s) +[05/24 16:52:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_404 +[05/24 16:52:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 404: 0/1 successful episodes +[05/24 16:52:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 417 (index 35/84) +[05/24 16:52:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:52:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:52:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 0/2 collected=0/2 +[05/24 16:52:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent glass bowl' +[05/24 16:52:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 1/2 collected=1/2 +[05/24 16:52:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 16:53:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_417: 2 episodes +[05/24 16:53:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:53:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417 +[05/24 16:53:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_417 in 4.00s (batch: 3.89s, save: 0.11s) +[05/24 16:53:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_417 +[05/24 16:53:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 417: 1/2 successful episodes +[05/24 16:53:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 424 (index 36/84) +[05/24 16:53:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:53:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_424_ceiling.xml +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=424, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:53:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 424 episode 0/1 collected=0/2 +[05/24 16:53:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 424 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=False +[05/24 16:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_424: 1 episodes +[05/24 16:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_424 in 2.57s (batch: 2.44s, save: 0.12s) +[05/24 16:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 424: 0/1 successful episodes +[05/24 16:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 441 (index 37/84) +[05/24 16:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_441_ceiling.xml +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=441, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 16:55:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 441 episode 0/1 collected=0/2 +[05/24 16:55:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 441 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6 completed with success=True +[05/24 16:55:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_441: 1 episodes +[05/24 16:55:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/24 16:55:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_441 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 16:55:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 441: 1/1 successful episodes +[05/24 16:55:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 445 (index 38/84) +[05/24 16:55:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:55:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 0/2 collected=0/2 +[05/24 16:55:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 16:56:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:56:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 1/2 collected=1/2 +[05/24 16:56:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:57:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_445: 2 episodes +[05/24 16:57:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 126 timesteps +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_445 in 4.74s (batch: 4.62s, save: 0.12s) +[05/24 16:57:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 445: 1/2 successful episodes +[05/24 16:57:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 472 (index 39/84) +[05/24 16:57:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:57:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 0/2 collected=0/2 +[05/24 16:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 16:58:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 16:58:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 1/2 collected=1/2 +[05/24 16:58:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 16:59:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_472: 2 episodes +[05/24 16:59:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_472 in 5.01s (batch: 4.83s, save: 0.17s) +[05/24 17:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 472: 0/2 successful episodes +[05/24 17:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 478 (index 40/84) +[05/24 17:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_478_ceiling.xml +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=478, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:00:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 478 episode 0/1 collected=0/2 +[05/24 17:00:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 478 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3 completed with success=False +[05/24 17:01:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_478: 1 episodes +[05/24 17:01:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_478 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:01:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 478: 0/1 successful episodes +[05/24 17:01:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 494 (index 41/84) +[05/24 17:01:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_494_ceiling.xml +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=494, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:01:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 494 episode 0/1 collected=0/2 +[05/24 17:01:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 494 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 17:01:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_494: 1 episodes +[05/24 17:01:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_494 +[05/24 17:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_494 in 2.26s (batch: 2.23s, save: 0.03s) +[05/24 17:01:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_494 +[05/24 17:01:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 494: 1/1 successful episodes +[05/24 17:01:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 508 (index 42/84) +[05/24 17:01:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:01:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 0/2 collected=0/2 +[05/24 17:01:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:02:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:02:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 1/2 collected=1/2 +[05/24 17:02:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=False +[05/24 17:03:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_508: 2 episodes +[05/24 17:03:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:03:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_508 in 3.90s (batch: 3.79s, save: 0.12s) +[05/24 17:03:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 508: 1/2 successful episodes +[05/24 17:03:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 511 (index 43/84) +[05/24 17:03:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:03:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_511_ceiling.xml +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=511, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:03:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 511 episode 0/1 collected=0/2 +[05/24 17:03:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 511 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=False +[05/24 17:05:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_511: 1 episodes +[05/24 17:05:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_511 in 2.04s (batch: 1.96s, save: 0.09s) +[05/24 17:05:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 511: 0/1 successful episodes +[05/24 17:05:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 527 (index 44/84) +[05/24 17:05:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:05:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_527_ceiling.xml +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=527, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:05:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 527 episode 0/1 collected=0/2 +[05/24 17:05:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 527 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:06:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_527: 1 episodes +[05/24 17:06:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_527 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 527: 0/1 successful episodes +[05/24 17:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 537 (index 45/84) +[05/24 17:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the container' +[05/24 17:06:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 0/2 collected=0/2 +[05/24 17:06:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:08:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 17:08:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 1/2 collected=1/2 +[05/24 17:08:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:08:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_537: 2 episodes +[05/24 17:08:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_537 in 3.78s (batch: 3.67s, save: 0.10s) +[05/24 17:08:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 537: 1/2 successful episodes +[05/24 17:08:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 550 (index 46/84) +[05/24 17:08:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:08:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:08:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 0/2 collected=0/2 +[05/24 17:08:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True +[05/24 17:08:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:49 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box' +[05/24 17:08:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 1/2 collected=1/2 +[05/24 17:08:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 1 object box_54d3d4baf11286a2a524395e4a26c893_1_0_6 completed with success=True +[05/24 17:09:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_550: 2 episodes +[05/24 17:09:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_550 in 4.85s (batch: 4.79s, save: 0.06s) +[05/24 17:09:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 550: 2/2 successful episodes +[05/24 17:09:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 553 (index 47/84) +[05/24 17:09:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_553_ceiling.xml +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=553, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray wooden bowl' +[05/24 17:09:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 553 episode 0/1 collected=0/2 +[05/24 17:09:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 553 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 17:09:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_553: 1 episodes +[05/24 17:09:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:09:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_553 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 17:09:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 553: 1/1 successful episodes +[05/24 17:09:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 572 (index 48/84) +[05/24 17:09:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_572_ceiling.xml +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=572, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 17:09:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 572 episode 0/1 collected=0/2 +[05/24 17:09:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 572 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 17:10:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_572: 1 episodes +[05/24 17:10:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_572 +[05/24 17:10:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_572 in 2.11s (batch: 2.02s, save: 0.09s) +[05/24 17:10:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_572 +[05/24 17:10:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 572: 0/1 successful episodes +[05/24 17:10:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 575 (index 49/84) +[05/24 17:10:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:10:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 17:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 0/2 collected=0/2 +[05/24 17:10:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:11:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:11:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 1/2 collected=1/2 +[05/24 17:11:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:12:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_575: 2 episodes +[05/24 17:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:12:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575 +[05/24 17:12:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_575 in 4.81s (batch: 4.69s, save: 0.12s) +[05/24 17:12:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_575 +[05/24 17:12:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 575: 1/2 successful episodes +[05/24 17:12:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 589 (index 50/84) +[05/24 17:12:47 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 589 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:12:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:12:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 0/2 collected=0/2 +[05/24 17:12:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:13:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 1/2 collected=1/2 +[05/24 17:13:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=True +[05/24 17:14:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_589: 2 episodes +[05/24 17:14:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589 +[05/24 17:14:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_589 in 4.79s (batch: 4.67s, save: 0.12s) +[05/24 17:14:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_589 +[05/24 17:14:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 589: 1/2 successful episodes +[05/24 17:14:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 595 (index 51/84) +[05/24 17:14:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_595_ceiling.xml +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=595, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:14:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 595 episode 0/1 collected=0/2 +[05/24 17:14:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 595 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:14:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_595: 1 episodes +[05/24 17:14:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:14:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_595 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 17:14:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 595: 1/1 successful episodes +[05/24 17:14:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 614 (index 52/84) +[05/24 17:14:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_614_ceiling.xml +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=614, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means' +[05/24 17:14:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 614 episode 0/1 collected=0/2 +[05/24 17:14:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 614 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:15:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_614: 1 episodes +[05/24 17:15:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 360 timesteps +[05/24 17:15:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_614 +[05/24 17:15:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_614 in 2.02s (batch: 1.94s, save: 0.08s) +[05/24 17:15:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_614 +[05/24 17:15:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 614: 1/1 successful episodes +[05/24 17:15:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 626 (index 53/84) +[05/24 17:15:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:15:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte blue bowl' +[05/24 17:15:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 0/2 collected=0/2 +[05/24 17:15:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_5 completed with success=True +[05/24 17:15:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 17:16:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 1/2 collected=1/2 +[05/24 17:16:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_2 completed with success=True +[05/24 17:16:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_626: 2 episodes +[05/24 17:16:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_626 in 3.61s (batch: 3.55s, save: 0.06s) +[05/24 17:16:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 626: 2/2 successful episodes +[05/24 17:16:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 640 (index 54/84) +[05/24 17:16:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:16:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:16:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 0/2 collected=0/2 +[05/24 17:16:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 17:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent plastic cup' +[05/24 17:17:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 1/2 collected=1/2 +[05/24 17:17:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:19:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_640: 2 episodes +[05/24 17:19:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_640 in 4.13s (batch: 3.93s, save: 0.19s) +[05/24 17:19:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 640: 0/2 successful episodes +[05/24 17:19:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 642 (index 55/84) +[05/24 17:19:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_642_ceiling.xml +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=642, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 17:19:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 642 episode 0/1 collected=0/2 +[05/24 17:19:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 642 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=True +[05/24 17:19:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_642: 1 episodes +[05/24 17:19:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:19:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_642 in 1.84s (batch: 1.81s, save: 0.03s) +[05/24 17:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 642: 1/1 successful episodes +[05/24 17:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 665 (index 56/84) +[05/24 17:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_665_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=665, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 665 episode 0/1 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 665 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=False +[05/24 17:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_665: 1 episodes +[05/24 17:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_665 +[05/24 17:20:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_665 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:20:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_665 +[05/24 17:20:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 665: 0/1 successful episodes +[05/24 17:20:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 669 (index 57/84) +[05/24 17:20:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 669 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:20:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:20:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 0/2 collected=0/2 +[05/24 17:20:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_8 completed with success=False +[05/24 17:22:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:22:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 1/2 collected=1/2 +[05/24 17:22:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:23:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_669: 2 episodes +[05/24 17:23:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669 +[05/24 17:23:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_669 in 4.12s (batch: 3.96s, save: 0.16s) +[05/24 17:23:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_669 +[05/24 17:23:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 669: 0/2 successful episodes +[05/24 17:23:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 688 (index 58/84) +[05/24 17:23:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:23:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_688_ceiling.xml +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=688, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:23:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 688 episode 0/1 collected=0/2 +[05/24 17:23:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 688 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_688: 1 episodes +[05/24 17:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_688 +[05/24 17:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_688 in 2.48s (batch: 2.37s, save: 0.11s) +[05/24 17:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_688 +[05/24 17:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 688: 0/1 successful episodes +[05/24 17:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 702 (index 59/84) +[05/24 17:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_702_ceiling.xml +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=702, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:25:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 702 episode 0/1 collected=0/2 +[05/24 17:25:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 702 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 17:26:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_702: 1 episodes +[05/24 17:26:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_702 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:26:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 702: 0/1 successful episodes +[05/24 17:26:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 704 (index 60/84) +[05/24 17:26:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:26:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:26:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 0/2 collected=0/2 +[05/24 17:26:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False +[05/24 17:28:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:28:14 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown cardboard box with flaps' +[05/24 17:28:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 1/2 collected=1/2 +[05/24 17:28:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_4 completed with success=False +[05/24 17:29:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_704: 2 episodes +[05/24 17:29:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_704 in 4.25s (batch: 4.07s, save: 0.18s) +[05/24 17:29:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 704: 0/2 successful episodes +[05/24 17:29:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 724 (index 61/84) +[05/24 17:29:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:29:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_724_ceiling.xml +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=724, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 87 objects +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl with rim' +[05/24 17:29:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 724 episode 0/1 collected=0/2 +[05/24 17:29:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 724 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_3 completed with success=True +[05/24 17:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_724: 1 episodes +[05/24 17:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 61 timesteps +[05/24 17:30:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_724 in 1.83s (batch: 1.80s, save: 0.03s) +[05/24 17:30:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 724: 1/1 successful episodes +[05/24 17:30:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 738 (index 62/84) +[05/24 17:30:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:30:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:30:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 0/2 collected=0/2 +[05/24 17:30:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_2_0_2 completed with success=False +[05/24 17:31:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:31:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 1/2 collected=1/2 +[05/24 17:31:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:33:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_738: 2 episodes +[05/24 17:33:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738 +[05/24 17:33:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_738 in 4.92s (batch: 4.75s, save: 0.17s) +[05/24 17:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_738 +[05/24 17:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 738: 0/2 successful episodes +[05/24 17:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 749 (index 63/84) +[05/24 17:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_749_ceiling.xml +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=749, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 17:33:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 749 episode 0/1 collected=0/2 +[05/24 17:33:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 749 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:33:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_749: 1 episodes +[05/24 17:33:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/24 17:33:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_749 in 2.23s (batch: 2.20s, save: 0.03s) +[05/24 17:33:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 749: 1/1 successful episodes +[05/24 17:33:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 767 (index 64/84) +[05/24 17:33:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_767_ceiling.xml +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=767, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 17:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 767 episode 0/1 collected=0/2 +[05/24 17:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 767 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:34:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_767: 1 episodes +[05/24 17:34:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 346 timesteps +[05/24 17:34:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_767 +[05/24 17:34:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_767 in 2.46s (batch: 2.39s, save: 0.08s) +[05/24 17:34:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_767 +[05/24 17:34:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 767: 1/1 successful episodes +[05/24 17:34:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 772 (index 65/84) +[05/24 17:34:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:34:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:34:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 0/2 collected=0/2 +[05/24 17:34:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:34:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:35:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 1/2 collected=1/2 +[05/24 17:35:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 17:35:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_772: 2 episodes +[05/24 17:35:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 17:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_772 in 4.52s (batch: 4.46s, save: 0.06s) +[05/24 17:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 772: 2/2 successful episodes +[05/24 17:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 788 (index 66/84) +[05/24 17:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:35:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_788_ceiling.xml +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=788, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:35:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 788 episode 0/1 collected=0/2 +[05/24 17:35:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 788 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 17:36:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_788: 1 episodes +[05/24 17:36:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_788 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 788: 0/1 successful episodes +[05/24 17:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 804 (index 67/84) +[05/24 17:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 804 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:36:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 0/2 collected=0/2 +[05/24 17:36:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 17:38:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 17:38:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 1/2 collected=1/2 +[05/24 17:38:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 1 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_6 completed with success=True +[05/24 17:38:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_804: 2 episodes +[05/24 17:38:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_804 in 3.84s (batch: 3.71s, save: 0.13s) +[05/24 17:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 804: 1/2 successful episodes +[05/24 17:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 820 (index 68/84) +[05/24 17:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 820 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_820_ceiling.xml +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=820, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:38:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 820 episode 0/1 collected=0/2 +[05/24 17:38:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 820 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 17:39:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_820: 1 episodes +[05/24 17:39:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_820 in 2.07s (batch: 1.98s, save: 0.10s) +[05/24 17:39:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 820: 0/1 successful episodes +[05/24 17:39:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 831 (index 69/84) +[05/24 17:39:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 831 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:39:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:39:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 0/2 collected=0/2 +[05/24 17:39:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:41:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:41:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 1/2 collected=1/2 +[05/24 17:41:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 17:41:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_831: 2 episodes +[05/24 17:41:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831 +[05/24 17:41:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_831 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 17:41:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_831 +[05/24 17:41:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 831: 1/2 successful episodes +[05/24 17:41:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 844 (index 70/84) +[05/24 17:41:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 844 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:41:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass pepper shaker' +[05/24 17:41:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 0/2 collected=0/2 +[05/24 17:41:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_8 completed with success=True +[05/24 17:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plastic cup' +[05/24 17:41:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 1/2 collected=1/2 +[05/24 17:41:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=False +[05/24 17:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_844: 2 episodes +[05/24 17:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:43:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844 +[05/24 17:43:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_844 in 4.78s (batch: 4.66s, save: 0.12s) +[05/24 17:43:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_844 +[05/24 17:43:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 844: 1/2 successful episodes +[05/24 17:43:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 849 (index 71/84) +[05/24 17:43:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 849 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_849_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=849, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 849 episode 0/1 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 849 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 17:43:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_849: 1 episodes +[05/24 17:43:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 17:43:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_849 in 2.31s (batch: 2.27s, save: 0.04s) +[05/24 17:43:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 849: 1/1 successful episodes +[05/24 17:43:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 867 (index 72/84) +[05/24 17:43:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:43:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 0/2 collected=0/2 +[05/24 17:44:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 17:44:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:44:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 1/2 collected=1/2 +[05/24 17:44:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=True +[05/24 17:44:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_867: 2 episodes +[05/24 17:44:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_867 in 3.57s (batch: 3.51s, save: 0.05s) +[05/24 17:44:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 867: 2/2 successful episodes +[05/24 17:44:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 885 (index 73/84) +[05/24 17:44:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:44:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 0/2 collected=0/2 +[05/24 17:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 17:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:44:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 1/2 collected=1/2 +[05/24 17:44:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_885: 2 episodes +[05/24 17:46:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885 +[05/24 17:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_885 in 4.94s (batch: 4.83s, save: 0.11s) +[05/24 17:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_885 +[05/24 17:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 885: 1/2 successful episodes +[05/24 17:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 890 (index 74/84) +[05/24 17:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_890_ceiling.xml +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=890, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 17:46:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 890 episode 0/1 collected=0/2 +[05/24 17:46:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 890 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7 completed with success=True +[05/24 17:46:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_890: 1 episodes +[05/24 17:46:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 116 timesteps +[05/24 17:46:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_890 in 1.83s (batch: 1.79s, save: 0.04s) +[05/24 17:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 890: 1/1 successful episodes +[05/24 17:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 898 (index 75/84) +[05/24 17:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 17:46:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 0/2 collected=0/2 +[05/24 17:46:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=False +[05/24 17:48:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 17:48:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 1/2 collected=1/2 +[05/24 17:48:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 17:49:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_898: 2 episodes +[05/24 17:49:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898 +[05/24 17:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_898 in 4.48s (batch: 4.29s, save: 0.19s) +[05/24 17:49:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_898 +[05/24 17:49:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 898: 0/2 successful episodes +[05/24 17:49:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 916 (index 76/84) +[05/24 17:49:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:49:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:49:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 0/2 collected=0/2 +[05/24 17:49:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:51:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:52:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 1/2 collected=1/2 +[05/24 17:52:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=True +[05/24 17:52:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_916: 2 episodes +[05/24 17:52:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916 +[05/24 17:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_916 in 4.84s (batch: 4.71s, save: 0.14s) +[05/24 17:52:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_916 +[05/24 17:52:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 916: 1/2 successful episodes +[05/24 17:52:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 923 (index 77/84) +[05/24 17:52:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_923_ceiling.xml +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=923, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 923 episode 0/1 collected=0/2 +[05/24 17:52:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 923 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:52:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_923: 1 episodes +[05/24 17:52:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:52:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_923 in 1.81s (batch: 1.78s, save: 0.03s) +[05/24 17:52:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 923: 1/1 successful episodes +[05/24 17:52:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 941 (index 78/84) +[05/24 17:52:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:52:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 0/2 collected=0/2 +[05/24 17:52:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2 completed with success=True +[05/24 17:53:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:53:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 1/2 collected=1/2 +[05/24 17:53:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 17:54:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_941: 2 episodes +[05/24 17:54:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:54:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941 +[05/24 17:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_941 in 4.73s (batch: 4.60s, save: 0.12s) +[05/24 17:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_941 +[05/24 17:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 941: 1/2 successful episodes +[05/24 17:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 942 (index 79/84) +[05/24 17:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_942_ceiling.xml +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=942, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:54:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 942 episode 0/1 collected=0/2 +[05/24 17:54:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 942 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:55:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_942: 1 episodes +[05/24 17:55:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_942 in 1.99s (batch: 1.90s, save: 0.09s) +[05/24 17:55:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 942: 0/1 successful episodes +[05/24 17:55:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 955 (index 80/84) +[05/24 17:55:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:55:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_955_ceiling.xml +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=955, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:55:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 955 episode 0/1 collected=0/2 +[05/24 17:55:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 955 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:56:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_955: 1 episodes +[05/24 17:56:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 262 timesteps +[05/24 17:56:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955 +[05/24 17:56:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_955 in 1.95s (batch: 1.89s, save: 0.06s) +[05/24 17:56:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_955 +[05/24 17:56:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 955: 1/1 successful episodes +[05/24 17:56:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 963 (index 81/84) +[05/24 17:56:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:56:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:56:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 0/2 collected=0/2 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10 completed with success=True +[05/24 17:57:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 17:57:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 1/2 collected=1/2 +[05/24 17:57:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 1 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=True +[05/24 17:57:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_963: 2 episodes +[05/24 17:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:57:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 38 timesteps +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_963 in 3.58s (batch: 3.52s, save: 0.05s) +[05/24 17:57:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 963: 2/2 successful episodes +[05/24 17:57:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 982 (index 82/84) +[05/24 17:57:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:57:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 17:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 0/2 collected=0/2 +[05/24 17:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_2 completed with success=True +[05/24 17:58:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:58:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 1/2 collected=1/2 +[05/24 17:58:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:59:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_982: 2 episodes +[05/24 17:59:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 271 timesteps +[05/24 17:59:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982 +[05/24 17:59:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_982 in 4.93s (batch: 4.79s, save: 0.14s) +[05/24 17:59:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_982 +[05/24 17:59:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 982: 1/2 successful episodes +[05/24 17:59:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 994 (index 83/84) +[05/24 17:59:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:59:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_994_ceiling.xml +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=994, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:59:30 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the carton' +[05/24 17:59:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 994 episode 0/1 collected=0/2 +[05/24 17:59:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 994 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_2 completed with success=True +[05/24 17:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_994: 1 episodes +[05/24 17:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 17:59:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994 +[05/24 17:59:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_994 in 2.22s (batch: 2.18s, save: 0.04s) +[05/24 17:59:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_994 +[05/24 17:59:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 994: 1/1 successful episodes +[05/24 17:59:47 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:59:47 INFO pipeline.py:1496] Completed 84 houses, skipped 0 houses +[05/24 17:59:47 INFO pipeline.py:1499] Success count: 68, Total count: 125 +[05/24 17:59:47 INFO pipeline.py:1500] Success rate: 54.40% +Combined 125 episodes from 84 files → /tmp/tmp9xmaylc0.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv at-end: 54.4% | oracle: 54.4% of 125 episodes +[2026-05-24 17:59:55,660] INFO MolmoSpaces simulator eval finished: success=68/125 rate=0.5440 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval +[2026-05-24 17:59:55,660] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/eval_meta.json b/pick_msproc/pick_msproc/shards/shard_07/submission/eval_meta.json new file mode 100644 index 0000000000000000000000000000000000000000..cc8736ee4803462c47cbcc51ad7c4e5929031e22 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/eval_meta.json @@ -0,0 +1,9 @@ +{ + "step": null, + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07", + "policy_name": "latest", + "command": "#!/usr/bin/env bash\nset -euo pipefail\ncd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy\nconda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv" +} diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/results.csv b/pick_msproc/pick_msproc/shards/shard_07/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..35a19e0a0109a55912220c79496e1e396f859d64 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,3,9,33.33,12.16,65.25,3,33.33,12.16,65.25,238.012696,97.08118 +latest,Bowl,9,11,81.82,51.59,94.51,9,81.82,51.59,94.51,216.024102,122.7384 +latest,Box,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,175.470232,94.524063 +latest,Cup,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,272.133281,131.491164 +latest,Fork,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,116.135712,80.971775 +latest,Fruit,0,6,0.0,0.36,40.96,0,0.0,0.36,40.96,244.492525,81.747558 +latest,Kettle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,146.624678,78.516675 +latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,158.645405,57.92845 +latest,Ladle,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,188.669908,92.511738 +latest,Mug,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,111.908936,24.392105 +latest,Pot,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,188.161326,110.116833 +latest,Remote Control,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,140.677675,94.388799 +latest,S/p Shaker,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,202.86921,99.647116 +latest,Soap Dispenser,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,232.100651,104.493307 +latest,Spatula,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,105.791595,55.905217 +latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,167.190957,103.781151 +latest,Spray Bottle,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,170.451131,133.594648 +latest,Tissue Paper,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,223.998172,143.483504 +latest,OVERALL,68,125,54.4,45.65,62.88,68,54.4,45.65,62.88,183.983336,109.641441 diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/run_command.sh b/pick_msproc/pick_msproc/shards/shard_07/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..5bcff3fc267d78de7193a51864c239431f654b01 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/shard_07_results.csv b/pick_msproc/pick_msproc/shards/shard_07/submission/shard_07_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..35a19e0a0109a55912220c79496e1e396f859d64 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/shard_07_results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,3,9,33.33,12.16,65.25,3,33.33,12.16,65.25,238.012696,97.08118 +latest,Bowl,9,11,81.82,51.59,94.51,9,81.82,51.59,94.51,216.024102,122.7384 +latest,Box,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,175.470232,94.524063 +latest,Cup,1,3,33.33,6.76,80.59,1,33.33,6.76,80.59,272.133281,131.491164 +latest,Fork,4,6,66.67,29.04,90.1,4,66.67,29.04,90.1,116.135712,80.971775 +latest,Fruit,0,6,0.0,0.36,40.96,0,0.0,0.36,40.96,244.492525,81.747558 +latest,Kettle,4,5,80.0,35.88,95.67,4,80.0,35.88,95.67,146.624678,78.516675 +latest,Knife,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,158.645405,57.92845 +latest,Ladle,1,5,20.0,4.33,64.12,1,20.0,4.33,64.12,188.669908,92.511738 +latest,Mug,4,4,100.0,47.82,99.49,4,100.0,47.82,99.49,111.908936,24.392105 +latest,Pot,6,8,75.0,39.99,92.51,6,75.0,39.99,92.51,188.161326,110.116833 +latest,Remote Control,6,10,60.0,30.79,83.25,6,60.0,30.79,83.25,140.677675,94.388799 +latest,S/p Shaker,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,202.86921,99.647116 +latest,Soap Dispenser,2,8,25.0,7.49,60.01,2,25.0,7.49,60.01,232.100651,104.493307 +latest,Spatula,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,105.791595,55.905217 +latest,Spoon,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,167.190957,103.781151 +latest,Spray Bottle,3,7,42.86,15.7,75.51,3,42.86,15.7,75.51,170.451131,133.594648 +latest,Tissue Paper,4,7,57.14,24.49,84.3,4,57.14,24.49,84.3,223.998172,143.483504 +latest,OVERALL,68,125,54.4,45.65,62.88,68,54.4,45.65,62.88,183.983336,109.641441 diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/submission_manifest.json b/pick_msproc/pick_msproc/shards/shard_07/submission/submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..90c00db1a0947a3a72308b587b4d2eed2587664f --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/submission_manifest.json @@ -0,0 +1,130 @@ +{ + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07", + "results_csv": "results.csv", + "summary_json": "summary.json", + "episode_results_jsonl": "episode_results.jsonl", + "eval_meta_json": "eval_meta.json", + "eval_log": "eval.log", + "metrics_mean": { + "success_rate": 0.544, + "success_count": 68.0, + "total_episodes": 125.0, + "avg_episode_length": 252.608, + "oracle_done_rate": 0.544, + "success_rate_pct": 54.4, + "oracle_rate_pct": 54.4 + }, + "stats": { + "total_episodes": 125, + "success_count": 68, + "failure_count": 57, + "success_rate": 0.544, + "avg_episode_length": 252.608, + "min_episode_length": 31, + "max_episode_length": 449, + "num_houses": 84, + "house_success_rates": { + "house_1": 1.0, + "house_102": 1.0, + "house_112": 0.5, + "house_128": 1.0, + "house_138": 1.0, + "house_15": 1.0, + "house_155": 1.0, + "house_159": 0.0, + "house_182": 0.0, + "house_192": 0.5, + "house_196": 1.0, + "house_21": 1.0, + "house_215": 0.0, + "house_227": 1.0, + "house_243": 0.0, + "house_248": 1.0, + "house_258": 1.0, + "house_278": 1.0, + "house_286": 1.0, + "house_306": 0.0, + "house_314": 0.0, + "house_32": 0.0, + "house_329": 1.0, + "house_330": 0.5, + "house_351": 0.0, + "house_354": 0.5, + "house_369": 1.0, + "house_375": 0.5, + "house_391": 0.5, + "house_404": 0.0, + "house_417": 0.5, + "house_424": 0.0, + "house_441": 1.0, + "house_445": 0.5, + "house_45": 1.0, + "house_472": 0.0, + "house_478": 0.0, + "house_494": 1.0, + "house_508": 0.5, + "house_511": 0.0, + "house_527": 0.0, + "house_537": 0.5, + "house_550": 1.0, + "house_553": 1.0, + "house_572": 0.0, + "house_575": 0.5, + "house_589": 0.5, + "house_595": 1.0, + "house_614": 1.0, + "house_626": 1.0, + "house_640": 0.0, + "house_642": 1.0, + "house_665": 0.0, + "house_669": 0.0, + "house_68": 1.0, + "house_688": 0.0, + "house_702": 0.0, + "house_704": 0.0, + "house_71": 0.5, + "house_724": 1.0, + "house_738": 0.0, + "house_749": 1.0, + "house_767": 1.0, + "house_772": 1.0, + "house_788": 0.0, + "house_804": 0.5, + "house_820": 0.0, + "house_831": 0.5, + "house_844": 0.5, + "house_849": 1.0, + "house_867": 1.0, + "house_87": 0.0, + "house_885": 0.5, + "house_890": 1.0, + "house_898": 0.0, + "house_90": 0.0, + "house_916": 0.5, + "house_923": 1.0, + "house_941": 0.5, + "house_942": 0.0, + "house_955": 1.0, + "house_963": 1.0, + "house_982": 0.5, + "house_994": 1.0 + }, + "oracle_done_count": 68, + "oracle_done_rate": 0.544, + "avg_successful_episode_length": 87.98529411764706 + }, + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv", + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "end_on_success": true +} diff --git a/pick_msproc/pick_msproc/shards/shard_07/submission/summary.json b/pick_msproc/pick_msproc/shards/shard_07/submission/summary.json new file mode 100644 index 0000000000000000000000000000000000000000..d52554ded8ebc29758f0b0d460aa15cceba65242 --- /dev/null +++ b/pick_msproc/pick_msproc/shards/shard_07/submission/summary.json @@ -0,0 +1,172 @@ +{ + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07", + "benchmark_source": "arg", + "benchmark_mode": "official", + "eval_output_dir": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445", + "policy_name": "latest", + "policy_device": "cuda:0", + "camera_names": [ + "droid_shoulder_light_randomization", + "wrist_camera_zed_mini" + ], + "preview_camera_names": [ + "exo_camera_1", + "wrist_camera" + ], + "save_video_sensors": [ + "__none__" + ], + "obs_camera_name": "droid_shoulder_light_randomization", + "obs_wrist_camera_name": "wrist_camera_zed_mini", + "action_chunk_size": 8, + "end_on_success": true, + "num_workers": 1, + "task_horizon_steps": 450, + "max_episodes": null, + "episode_idx": null, + "resolved_episode_idx": null, + "random_episode": false, + "random_seed": 42, + "metrics_mean": { + "success_rate": 0.544, + "success_count": 68.0, + "total_episodes": 125.0, + "avg_episode_length": 252.608, + "oracle_done_rate": 0.544, + "success_rate_pct": 54.4, + "oracle_rate_pct": 54.4 + }, + "stats": { + "total_episodes": 125, + "success_count": 68, + "failure_count": 57, + "success_rate": 0.544, + "avg_episode_length": 252.608, + "min_episode_length": 31, + "max_episode_length": 449, + "num_houses": 84, + "house_success_rates": { + "house_1": 1.0, + "house_102": 1.0, + "house_112": 0.5, + "house_128": 1.0, + "house_138": 1.0, + "house_15": 1.0, + "house_155": 1.0, + "house_159": 0.0, + "house_182": 0.0, + "house_192": 0.5, + "house_196": 1.0, + "house_21": 1.0, + "house_215": 0.0, + "house_227": 1.0, + "house_243": 0.0, + "house_248": 1.0, + "house_258": 1.0, + "house_278": 1.0, + "house_286": 1.0, + "house_306": 0.0, + "house_314": 0.0, + "house_32": 0.0, + "house_329": 1.0, + "house_330": 0.5, + "house_351": 0.0, + "house_354": 0.5, + "house_369": 1.0, + "house_375": 0.5, + "house_391": 0.5, + "house_404": 0.0, + "house_417": 0.5, + "house_424": 0.0, + "house_441": 1.0, + "house_445": 0.5, + "house_45": 1.0, + "house_472": 0.0, + "house_478": 0.0, + "house_494": 1.0, + "house_508": 0.5, + "house_511": 0.0, + "house_527": 0.0, + "house_537": 0.5, + "house_550": 1.0, + "house_553": 1.0, + "house_572": 0.0, + "house_575": 0.5, + "house_589": 0.5, + "house_595": 1.0, + "house_614": 1.0, + "house_626": 1.0, + "house_640": 0.0, + "house_642": 1.0, + "house_665": 0.0, + "house_669": 0.0, + "house_68": 1.0, + "house_688": 0.0, + "house_702": 0.0, + "house_704": 0.0, + "house_71": 0.5, + "house_724": 1.0, + "house_738": 0.0, + "house_749": 1.0, + "house_767": 1.0, + "house_772": 1.0, + "house_788": 0.0, + "house_804": 0.5, + "house_820": 0.0, + "house_831": 0.5, + "house_844": 0.5, + "house_849": 1.0, + "house_867": 1.0, + "house_87": 0.0, + "house_885": 0.5, + "house_890": 1.0, + "house_898": 0.0, + "house_90": 0.0, + "house_916": 0.5, + "house_923": 1.0, + "house_941": 0.5, + "house_942": 0.0, + "house_955": 1.0, + "house_963": 1.0, + "house_982": 0.5, + "house_994": 1.0 + }, + "oracle_done_count": 68, + "oracle_done_rate": 0.544, + "avg_successful_episode_length": 87.98529411764706 + }, + "success_count": 68, + "total_count": 125, + "success_rate": 0.544, + "action_config": { + "policy_action_type": "joint_pos_rel", + "arm_command_mode": "joint_rel_position", + "gripper_command_mode": "joint_position", + "arm_action_key": "joint_pos_rel", + "gripper_action_key": "joint_pos", + "source_name": "pnp_next_to_v2", + "source_type": "molmo_raw" + }, + "csv_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv", + "csv_overall_row": { + "policy": "latest", + "category": "OVERALL", + "successes": 68, + "total": 125, + "success_rate_pct": 54.4, + "ci_95_low_pct": 45.65, + "ci_95_high_pct": 62.88, + "oracle_successes": 68, + "oracle_rate_pct": 54.4, + "oracle_ci_95_low_pct": 45.65, + "oracle_ci_95_high_pct": 62.88, + "jerk_joint_mean": 183.983336, + "jerk_joint_std": 109.641441 + }, + "preview_video": null, + "skip_compose_videos": true, + "skip_csv": false, + "composed_video_count": 0, + "composed_videos": {} +} \ No newline at end of file diff --git a/pick_msproc/pick_msproc/submission/FrankaPickDroidMiniBench_json_benchmark_20251231_results.csv b/pick_msproc/pick_msproc/submission/FrankaPickDroidMiniBench_json_benchmark_20251231_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..c3fc9b8cd02c4db405b84ecc97857b8a095bf0f3 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/FrankaPickDroidMiniBench_json_benchmark_20251231_results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,14,55,25.45,15.83,38.37,14,25.45,15.83,38.37,244.053865,93.237272 +latest,Bowl,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,203.417267,111.172564 +latest,Box,41,55,74.55,61.63,84.17,41,74.55,61.63,84.17,208.222346,115.015186 +latest,Cup,38,56,67.86,54.76,78.6,38,67.86,54.76,78.6,165.378821,93.24736 +latest,Fork,26,56,46.43,33.98,59.34,26,46.43,33.98,59.34,162.624139,99.367869 +latest,Fruit,7,55,12.73,6.38,24.07,7,12.73,6.38,24.07,260.609186,102.869966 +latest,Kettle,35,56,62.5,49.34,74.0,35,62.5,49.34,74.0,195.298126,125.647795 +latest,Knife,25,56,44.64,32.36,57.64,25,44.64,32.36,57.64,188.817267,111.252547 +latest,Ladle,27,55,49.09,36.34,61.97,27,49.09,36.34,61.97,162.80882,108.237446 +latest,Mug,43,56,76.79,64.16,85.87,43,76.79,64.16,85.87,152.484252,99.507377 +latest,Pot,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,190.899952,121.679277 +latest,Remote Control,34,55,61.82,48.55,73.5,34,61.82,48.55,73.5,154.925136,96.772079 +latest,S/p Shaker,19,56,33.93,22.91,47.06,19,33.93,22.91,47.06,232.918377,100.911861 +latest,Soap Dispenser,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.644516,131.426341 +latest,Spatula,21,56,37.5,26.0,50.66,21,37.5,26.0,50.66,151.200522,95.373086 +latest,Spoon,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,171.914845,103.344219 +latest,Spray Bottle,18,56,32.14,21.4,45.24,18,32.14,21.4,45.24,194.996556,94.060216 +latest,Tissue Paper,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.600884,126.782425 +latest,OVERALL,502,1000,50.2,47.11,53.29,502,50.2,47.11,53.29,191.357854,112.191979 diff --git a/pick_msproc/pick_msproc/submission/episode_results.jsonl b/pick_msproc/pick_msproc/submission/episode_results.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..225db141bdaabd5894dfc5305ab89b60c24f1e55 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/episode_results.jsonl @@ -0,0 +1,1000 @@ +{"house_id": "house_0", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 48, "task_description": "Pick up the shiny silver kettle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_0/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_1", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 125, "task_description": "Pick up the slim black remote control", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_10", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green ladle", "object_name": "ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_10/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_10", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_10/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_100", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_100/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_101", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_101/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_101", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the dark kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_101/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_102", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 62, "task_description": "Pick up the spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_102", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 53, "task_description": "Pick up the shiny silver metallic kettle with handle", "object_name": "boiler_335af387651d9869b84abf1fb099bf69_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_104", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the plain white ceramic mug with handle", "object_name": "mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_104/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_104", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 45, "task_description": "Pick up the rectangular metal pot", "object_name": "pot_e48cd3dc3aab8474de97f333d916c74d_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_104/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_105", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_105", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the golden pump soap bottle", "object_name": "soapdispenser_b8726504edf0a781770524a38cc81949_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_106", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black matte cooking pot with handles", "object_name": "pot_327edb884d62930ab5c6e8fce062daba_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_106/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_106", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_106/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_107", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 40, "task_description": "Pick up the shiny metal ladle", "object_name": "ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_107", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the cookware", "object_name": "pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_108", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 54, "task_description": "Pick up the shiny metal ladle with black handle", "object_name": "ladle_9c306e3043202395854ae4a3cba13e79_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_108/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_108", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 38, "task_description": "Pick up the glossy brown rounded cup ceramic", "object_name": "cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_108/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_109", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 77, "task_description": "Pick up the shiny polished metal spoon", "object_name": "spoon_573130d7496422c068be3abf14b0dcf0_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_109/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_109", "episode_idx": 1, 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"num_steps": 449, "task_description": "Pick up the kitchen spatula", "object_name": "spatula_291e31b285474249721c8a7b1bac877a_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_984/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_985", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the rectangular green tissue box with tissues", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_985", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 37, "task_description": "Pick up the red apple", "object_name": "apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_988", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the green tissue box rectangular", "object_name": "tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_988/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_988", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 60, "task_description": "Pick up the white ceramic mug", "object_name": "mug_3ebc45568ed53a18c8797978b3744a99_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_988/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_989", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 63, "task_description": "Pick up the cup", "object_name": "cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_989/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_991", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue soap bottle with golden pump", "object_name": "soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_11", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_991", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the blue spray bottle with nozzle", "object_name": "atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_994", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 72, "task_description": "Pick up the carton", "object_name": "box_7c54a26cba93093ca8aceb6fbac82646_1_0_2", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_995", "episode_idx": 0, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black remote", "object_name": "remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_995/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_995", "episode_idx": 1, "success": false, "oracle_done": false, "num_steps": 449, "task_description": "Pick up the black mug", "object_name": "mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_995/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_998", "episode_idx": 0, "success": true, "oracle_done": true, "num_steps": 49, "task_description": "Pick up the blue rectangular pot", "object_name": "pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_998/trajectories_batch_1_of_1.h5", "metadata": {}} +{"house_id": "house_998", "episode_idx": 1, "success": true, "oracle_done": true, "num_steps": 71, "task_description": "Pick up the dark teal box", "object_name": "box_f6e09f3868d4ffa7924a0719511c099d_2_0_7", "data_file_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_998/trajectories_batch_1_of_1.h5", "metadata": {}} diff --git a/pick_msproc/pick_msproc/submission/results.csv b/pick_msproc/pick_msproc/submission/results.csv new file mode 100644 index 0000000000000000000000000000000000000000..c3fc9b8cd02c4db405b84ecc97857b8a095bf0f3 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,14,55,25.45,15.83,38.37,14,25.45,15.83,38.37,244.053865,93.237272 +latest,Bowl,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,203.417267,111.172564 +latest,Box,41,55,74.55,61.63,84.17,41,74.55,61.63,84.17,208.222346,115.015186 +latest,Cup,38,56,67.86,54.76,78.6,38,67.86,54.76,78.6,165.378821,93.24736 +latest,Fork,26,56,46.43,33.98,59.34,26,46.43,33.98,59.34,162.624139,99.367869 +latest,Fruit,7,55,12.73,6.38,24.07,7,12.73,6.38,24.07,260.609186,102.869966 +latest,Kettle,35,56,62.5,49.34,74.0,35,62.5,49.34,74.0,195.298126,125.647795 +latest,Knife,25,56,44.64,32.36,57.64,25,44.64,32.36,57.64,188.817267,111.252547 +latest,Ladle,27,55,49.09,36.34,61.97,27,49.09,36.34,61.97,162.80882,108.237446 +latest,Mug,43,56,76.79,64.16,85.87,43,76.79,64.16,85.87,152.484252,99.507377 +latest,Pot,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,190.899952,121.679277 +latest,Remote Control,34,55,61.82,48.55,73.5,34,61.82,48.55,73.5,154.925136,96.772079 +latest,S/p Shaker,19,56,33.93,22.91,47.06,19,33.93,22.91,47.06,232.918377,100.911861 +latest,Soap Dispenser,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.644516,131.426341 +latest,Spatula,21,56,37.5,26.0,50.66,21,37.5,26.0,50.66,151.200522,95.373086 +latest,Spoon,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,171.914845,103.344219 +latest,Spray Bottle,18,56,32.14,21.4,45.24,18,32.14,21.4,45.24,194.996556,94.060216 +latest,Tissue Paper,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.600884,126.782425 +latest,OVERALL,502,1000,50.2,47.11,53.29,502,50.2,47.11,53.29,191.357854,112.191979 diff --git a/pick_msproc/pick_msproc/submission/shard_00.launcher.log b/pick_msproc/pick_msproc/submission/shard_00.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..49f63351f3f1191c73c3fe9966839b07ec5f5a7f --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_00.launcher.log @@ -0,0 +1,2985 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,333] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,522] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,554] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 (source=arg) +[2026-05-24 15:59:56,829] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,164] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,611] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,611] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,987] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,037] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,073] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 3 episodes each (249 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [3, + 17, + 36, + 47, + 70, + 75, + 89, + 98, + 104, + 113, + 129, + 139, + 160, + 164, + 167, + 183, + 194, + 197, + 216, + 230, + 244, + 249, + 261, + 282, + 292, + 310, + 317, + 331, + 334, + 352, + 363, + 370, + 376, + 395, + 406, + 425, + 427, + 446, + 447, + 473, + 481, + 495, + 512, + 513, + 528, + 541, + 552, + 554, + 574, + 576, + 598, + 599, + 616, + 629, + 643, + 653, + 666, + 675, + 691, + 706, + 707, + 725, + 739, + 750, + 770, + 773, + 793, + 806, + 822, + 832, + 847, + 856, + 871, + 887, + 899, + 900, + 922, + 924, + 943, + 944, + 965, + 968, + 984], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,077] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 3 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 3 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:46 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,570:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,570] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_3_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=3, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 3 episode 0/1 collected=0/3 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.642 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:56,383] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:56,702] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:03,225] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:12,104] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:12,119] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 3 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 16:06:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_3: 1 episodes +[05/24 16:06:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:06:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:06:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_3 +[05/24 16:06:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_3 in 1.98s (batch: 1.95s, save: 0.03s) +[05/24 16:06:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_3 +[05/24 16:06:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 3: 1/1 successful episodes +[05/24 16:06:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 17 (index 1/83) +[05/24 16:06:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 17 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:06:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_17_ceiling.xml +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=17, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:06:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:06:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 17 episode 0/1 collected=0/3 +[05/24 16:06:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:06:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 17 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 16:06:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_17: 1 episodes +[05/24 16:06:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 16:06:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:06:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_17 +[05/24 16:06:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_17 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:06:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_17 +[05/24 16:06:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 17: 1/1 successful episodes +[05/24 16:06:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 36 (index 2/83) +[05/24 16:06:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 36 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:06:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_36_ceiling.xml +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=36, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:06:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray' +[05/24 16:06:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 36 episode 0/2 collected=0/3 +[05/24 16:06:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:06:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 36 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=True +[05/24 16:07:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_36_ceiling.xml +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=36, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:07:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 16:07:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 36 episode 1/2 collected=1/3 +[05/24 16:07:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 36 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True +[05/24 16:07:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_36: 2 episodes +[05/24 16:07:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:07:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_36 +[05/24 16:07:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_36 in 4.25s (batch: 4.19s, save: 0.06s) +[05/24 16:07:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_36 +[05/24 16:07:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 36: 2/2 successful episodes +[05/24 16:07:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 47 (index 3/83) +[05/24 16:07:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 47 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:07:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_47_ceiling.xml +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=47, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:07:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:07:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 47 episode 0/1 collected=0/3 +[05/24 16:07:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 47 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_47: 1 episodes +[05/24 16:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:07:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_47 +[05/24 16:07:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_47 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:07:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_47 +[05/24 16:07:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 47: 1/1 successful episodes +[05/24 16:07:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 70 (index 4/83) +[05/24 16:07:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 70 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:07:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_70_ceiling.xml +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=70, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:07:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:07:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 70 episode 0/1 collected=0/3 +[05/24 16:07:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:08:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 70 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=False +[05/24 16:08:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_70: 1 episodes +[05/24 16:08:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_70 +[05/24 16:08:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_70 in 2.27s (batch: 2.19s, save: 0.09s) +[05/24 16:08:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_70 +[05/24 16:08:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 70: 0/1 successful episodes +[05/24 16:08:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 75 (index 5/83) +[05/24 16:08:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 75 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:08:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_75_ceiling.xml +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=75, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 16:09:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:09:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 75 episode 0/2 collected=0/3 +[05/24 16:09:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 75 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_2_0_5 completed with success=False +[05/24 16:10:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_75_ceiling.xml +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=75, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 16:10:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:10:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 75 episode 1/2 collected=1/3 +[05/24 16:10:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 75 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:12:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_75: 2 episodes +[05/24 16:12:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_75 +[05/24 16:12:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_75 in 4.79s (batch: 4.60s, save: 0.19s) +[05/24 16:12:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_75 +[05/24 16:12:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 75: 0/2 successful episodes +[05/24 16:12:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 89 (index 6/83) +[05/24 16:12:08 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 89 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:12:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_89_ceiling.xml +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=89, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:12:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:12:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 89 episode 0/2 collected=0/3 +[05/24 16:12:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 89 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:12:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_89_ceiling.xml +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=89, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:12:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray bowl' +[05/24 16:12:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 89 episode 1/2 collected=1/3 +[05/24 16:12:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 89 episode 1 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=True +[05/24 16:12:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_89: 2 episodes +[05/24 16:12:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:12:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_89 +[05/24 16:12:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_89 in 3.96s (batch: 3.91s, save: 0.05s) +[05/24 16:12:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_89 +[05/24 16:12:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 89: 2/2 successful episodes +[05/24 16:12:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 98 (index 7/83) +[05/24 16:12:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 98 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:12:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_98_ceiling.xml +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=98, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:12:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:12:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 98 episode 0/1 collected=0/3 +[05/24 16:12:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 98 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:14:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_98: 1 episodes +[05/24 16:14:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:14:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_98 +[05/24 16:14:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_98 in 2.14s (batch: 2.05s, save: 0.08s) +[05/24 16:14:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_98 +[05/24 16:14:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 98: 0/1 successful episodes +[05/24 16:14:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 104 (index 8/83) +[05/24 16:14:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 104 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:14:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_104_ceiling.xml +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=104, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:14:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:14:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 104 episode 0/2 collected=0/3 +[05/24 16:14:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 104 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_8 completed with success=True +[05/24 16:14:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_104_ceiling.xml +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=104, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:14:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot' +[05/24 16:14:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 104 episode 1/2 collected=1/3 +[05/24 16:14:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 104 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_8 completed with success=True +[05/24 16:14:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_104: 2 episodes +[05/24 16:14:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:14:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:14:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_104 +[05/24 16:14:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_104 in 3.72s (batch: 3.67s, save: 0.05s) +[05/24 16:14:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_104 +[05/24 16:14:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 104: 2/2 successful episodes +[05/24 16:14:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 113 (index 9/83) +[05/24 16:14:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 113 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:14:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_113_ceiling.xml +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=113, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:14:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:14:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 113 episode 0/2 collected=0/3 +[05/24 16:14:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 113 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 16:15:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_113_ceiling.xml +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=113, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:15:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green ladle with handle' +[05/24 16:15:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 113 episode 1/2 collected=1/3 +[05/24 16:15:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 113 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 16:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_113: 2 episodes +[05/24 16:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 101 timesteps +[05/24 16:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_113 +[05/24 16:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_113 in 4.49s (batch: 4.38s, save: 0.12s) +[05/24 16:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_113 +[05/24 16:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 113: 1/2 successful episodes +[05/24 16:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 129 (index 10/83) +[05/24 16:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 129 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_129_ceiling.xml +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=129, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:16:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 16:16:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 129 episode 0/2 collected=0/3 +[05/24 16:16:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 129 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 16:18:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_129_ceiling.xml +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=129, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:18:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:18:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 129 episode 1/2 collected=1/3 +[05/24 16:18:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 129 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 16:18:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_129: 2 episodes +[05/24 16:18:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 144 timesteps +[05/24 16:18:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_129 +[05/24 16:18:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_129 in 4.22s (batch: 4.09s, save: 0.12s) +[05/24 16:18:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_129 +[05/24 16:18:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 129: 1/2 successful episodes +[05/24 16:18:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 139 (index 11/83) +[05/24 16:18:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 139 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:18:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_139_ceiling.xml +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=139, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:18:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 16:18:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 139 episode 0/1 collected=0/3 +[05/24 16:18:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 139 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_2_0_6 completed with success=False +[05/24 16:20:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_139: 1 episodes +[05/24 16:20:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_139 +[05/24 16:20:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_139 in 2.14s (batch: 2.05s, save: 0.08s) +[05/24 16:20:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_139 +[05/24 16:20:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 139: 0/1 successful episodes +[05/24 16:20:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 160 (index 12/83) +[05/24 16:20:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 160 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:20:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_160_ceiling.xml +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=160, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:20:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 16:20:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 160 episode 0/1 collected=0/3 +[05/24 16:20:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 160 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:22:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_160: 1 episodes +[05/24 16:22:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_160 +[05/24 16:22:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_160 in 2.17s (batch: 2.09s, save: 0.09s) +[05/24 16:22:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_160 +[05/24 16:22:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 160: 0/1 successful episodes +[05/24 16:22:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 164 (index 13/83) +[05/24 16:22:10 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 164 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:22:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_164_ceiling.xml +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=164, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:22:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:22:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 164 episode 0/2 collected=0/3 +[05/24 16:22:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 164 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 16:23:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_164_ceiling.xml +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=164, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:23:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 16:23:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 164 episode 1/2 collected=1/3 +[05/24 16:23:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 164 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:25:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_164: 2 episodes +[05/24 16:25:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_164 +[05/24 16:25:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_164 in 4.56s (batch: 4.39s, save: 0.16s) +[05/24 16:25:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_164 +[05/24 16:25:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 164: 0/2 successful episodes +[05/24 16:25:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 167 (index 14/83) +[05/24 16:25:15 Worker 0 INFO json_eval_runner.py:278] Loaded 3 episodes for house 167 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:25:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_167_ceiling.xml +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:25:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:25:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 167 episode 0/3 collected=0/3 +[05/24 16:25:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 167 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_9 completed with success=True +[05/24 16:25:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_167_ceiling.xml +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:26:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red ripe tomato' +[05/24 16:26:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 167 episode 1/3 collected=1/3 +[05/24 16:26:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 167 episode 1 object tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_8 completed with success=False +[05/24 16:27:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_167_ceiling.xml +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=167, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:27:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:27:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 167 episode 2/3 collected=2/3 +[05/24 16:27:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 167 episode 2 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 16:27:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_167: 3 episodes +[05/24 16:27:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 181 timesteps +[05/24 16:27:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:57 Worker 0 INFO save_utils.py:703] Saved 3 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_167 +[05/24 16:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_167 in 6.31s (batch: 6.15s, save: 0.16s) +[05/24 16:27:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_167 +[05/24 16:27:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 167: 2/3 successful episodes +[05/24 16:27:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 183 (index 15/83) +[05/24 16:27:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 183 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:27:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_183_ceiling.xml +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=183, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:27:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the simple matte blue bowl' +[05/24 16:27:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 183 episode 0/1 collected=0/3 +[05/24 16:27:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 183 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=True +[05/24 16:28:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_183: 1 episodes +[05/24 16:28:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 140 timesteps +[05/24 16:28:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_183 +[05/24 16:28:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_183 in 2.16s (batch: 2.11s, save: 0.05s) +[05/24 16:28:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_183 +[05/24 16:28:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 183: 1/1 successful episodes +[05/24 16:28:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 194 (index 16/83) +[05/24 16:28:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 194 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:28:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_194_ceiling.xml +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=194, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:28:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black cooking pot' +[05/24 16:28:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 194 episode 0/2 collected=0/3 +[05/24 16:28:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 194 episode 0 object pot_327edb884d62930ab5c6e8fce062daba_1_0_6 completed with success=True +[05/24 16:29:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_194_ceiling.xml +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=194, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:29:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentation' +[05/24 16:29:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 194 episode 1/2 collected=1/3 +[05/24 16:29:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 194 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 16:31:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_194: 2 episodes +[05/24 16:31:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 352 timesteps +[05/24 16:31:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_194 +[05/24 16:31:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_194 in 4.61s (batch: 4.46s, save: 0.15s) +[05/24 16:31:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_194 +[05/24 16:31:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 194: 1/2 successful episodes +[05/24 16:31:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 197 (index 17/83) +[05/24 16:31:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 197 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:31:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_197_ceiling.xml +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=197, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:31:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:31:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 197 episode 0/1 collected=0/3 +[05/24 16:31:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 197 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:32:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_197: 1 episodes +[05/24 16:32:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_197 +[05/24 16:32:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_197 in 2.21s (batch: 2.12s, save: 0.09s) +[05/24 16:32:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_197 +[05/24 16:32:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 197: 0/1 successful episodes +[05/24 16:32:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 216 (index 18/83) +[05/24 16:32:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 216 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:32:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_216_ceiling.xml +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=216, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:32:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 16:32:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 216 episode 0/1 collected=0/3 +[05/24 16:32:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 216 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True +[05/24 16:32:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_216: 1 episodes +[05/24 16:32:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:33:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_216 +[05/24 16:33:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_216 in 1.94s (batch: 1.91s, save: 0.03s) +[05/24 16:33:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_216 +[05/24 16:33:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 216: 1/1 successful episodes +[05/24 16:33:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 230 (index 19/83) +[05/24 16:33:01 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 230 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:33:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_230_ceiling.xml +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=230, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:33:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 16:33:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 230 episode 0/2 collected=0/3 +[05/24 16:33:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 230 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:34:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_230_ceiling.xml +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=230, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:34:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:34:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 230 episode 1/2 collected=1/3 +[05/24 16:34:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 230 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:34:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_230: 2 episodes +[05/24 16:34:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:34:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 143 timesteps +[05/24 16:34:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_230 +[05/24 16:34:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_230 in 4.71s (batch: 4.57s, save: 0.14s) +[05/24 16:34:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_230 +[05/24 16:34:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 230: 1/2 successful episodes +[05/24 16:34:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 244 (index 20/83) +[05/24 16:34:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 244 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:34:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_244_ceiling.xml +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=244, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:34:55 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:34:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown cardboard box with flaps' +[05/24 16:34:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 244 episode 0/1 collected=0/3 +[05/24 16:34:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 244 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_4 completed with success=False +[05/24 16:36:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_244: 1 episodes +[05/24 16:36:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_244 +[05/24 16:36:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_244 in 2.42s (batch: 2.33s, save: 0.10s) +[05/24 16:36:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_244 +[05/24 16:36:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 244: 0/1 successful episodes +[05/24 16:36:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 249 (index 21/83) +[05/24 16:36:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 249 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:36:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_249_ceiling.xml +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=249, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:36:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:36:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 249 episode 0/2 collected=0/3 +[05/24 16:36:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 249 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:37:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_249_ceiling.xml +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=249, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:37:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with bronze pump' +[05/24 16:37:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 249 episode 1/2 collected=1/3 +[05/24 16:37:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 249 episode 1 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_2 completed with success=False +[05/24 16:39:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_249: 2 episodes +[05/24 16:39:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:13 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_249 +[05/24 16:39:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_249 in 4.40s (batch: 4.23s, save: 0.17s) +[05/24 16:39:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_249 +[05/24 16:39:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 249: 0/2 successful episodes +[05/24 16:39:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 261 (index 22/83) +[05/24 16:39:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 261 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:39:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_261_ceiling.xml +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=261, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 104 objects +[05/24 16:39:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:39:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 261 episode 0/1 collected=0/3 +[05/24 16:39:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 261 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_8 completed with success=True +[05/24 16:39:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_261: 1 episodes +[05/24 16:39:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:39:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_261 +[05/24 16:39:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_261 in 1.89s (batch: 1.86s, save: 0.03s) +[05/24 16:39:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_261 +[05/24 16:39:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 261: 1/1 successful episodes +[05/24 16:39:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 282 (index 23/83) +[05/24 16:39:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 282 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:39:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_282_ceiling.xml +[05/24 16:39:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=282, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:39:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:39:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 282 episode 0/2 collected=0/3 +[05/24 16:39:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 282 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:39:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_282_ceiling.xml +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=282, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:39:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:39:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 282 episode 1/2 collected=1/3 +[05/24 16:39:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 282 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=False +[05/24 16:41:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_282: 2 episodes +[05/24 16:41:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 61 timesteps +[05/24 16:41:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_282 +[05/24 16:41:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_282 in 4.34s (batch: 4.23s, save: 0.11s) +[05/24 16:41:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_282 +[05/24 16:41:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 282: 1/2 successful episodes +[05/24 16:41:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 292 (index 24/83) +[05/24 16:41:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 292 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:41:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_292_ceiling.xml +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=292, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 16:41:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 292 episode 0/1 collected=0/3 +[05/24 16:41:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 292 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 16:41:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_292: 1 episodes +[05/24 16:41:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 125 timesteps +[05/24 16:41:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_292 +[05/24 16:41:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_292 in 2.13s (batch: 2.08s, save: 0.05s) +[05/24 16:41:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_292 +[05/24 16:41:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 292: 1/1 successful episodes +[05/24 16:41:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 310 (index 25/83) +[05/24 16:41:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 310 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:41:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_310_ceiling.xml +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=310, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:41:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:41:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 310 episode 0/2 collected=0/3 +[05/24 16:41:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 310 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 16:42:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_310_ceiling.xml +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=310, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:42:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:42:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 310 episode 1/2 collected=1/3 +[05/24 16:42:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 310 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_7 completed with success=True +[05/24 16:42:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_310: 2 episodes +[05/24 16:42:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:42:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 219 timesteps +[05/24 16:43:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_310 +[05/24 16:43:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_310 in 4.20s (batch: 4.13s, save: 0.08s) +[05/24 16:43:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_310 +[05/24 16:43:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 310: 2/2 successful episodes +[05/24 16:43:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 317 (index 26/83) +[05/24 16:43:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 317 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:43:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_317_ceiling.xml +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=317, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:43:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:43:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 317 episode 0/1 collected=0/3 +[05/24 16:43:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 317 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=True +[05/24 16:43:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_317: 1 episodes +[05/24 16:43:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:43:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_317 +[05/24 16:43:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_317 in 2.05s (batch: 2.02s, save: 0.03s) +[05/24 16:43:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_317 +[05/24 16:43:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 317: 1/1 successful episodes +[05/24 16:43:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 331 (index 27/83) +[05/24 16:43:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 331 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:43:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_331_ceiling.xml +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=331, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:43:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:43:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 331 episode 0/2 collected=0/3 +[05/24 16:43:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 331 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:44:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_331_ceiling.xml +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=331, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:44:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:44:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 331 episode 1/2 collected=1/3 +[05/24 16:44:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 331 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_331: 2 episodes +[05/24 16:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_331 +[05/24 16:44:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_331 in 4.17s (batch: 4.05s, save: 0.11s) +[05/24 16:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_331 +[05/24 16:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 331: 1/2 successful episodes +[05/24 16:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 334 (index 28/83) +[05/24 16:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 334 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_334_ceiling.xml +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=334, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 16:44:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:44:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 334 episode 0/1 collected=0/3 +[05/24 16:44:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 334 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:45:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_334: 1 episodes +[05/24 16:45:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:45:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_334 +[05/24 16:45:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_334 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:45:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_334 +[05/24 16:45:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 334: 1/1 successful episodes +[05/24 16:45:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 352 (index 29/83) +[05/24 16:45:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 352 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:45:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_352_ceiling.xml +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=352, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:45:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal fork' +[05/24 16:45:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 352 episode 0/1 collected=0/3 +[05/24 16:45:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 352 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:46:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_352: 1 episodes +[05/24 16:46:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_352 +[05/24 16:46:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_352 in 2.16s (batch: 2.07s, save: 0.09s) +[05/24 16:46:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_352 +[05/24 16:46:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 352: 0/1 successful episodes +[05/24 16:46:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 363 (index 30/83) +[05/24 16:46:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 363 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:46:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_363_ceiling.xml +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=363, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:46:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:46:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 363 episode 0/2 collected=0/3 +[05/24 16:46:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 363 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:47:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_363_ceiling.xml +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=363, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:47:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:47:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 363 episode 1/2 collected=1/3 +[05/24 16:47:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 363 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 16:48:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_363: 2 episodes +[05/24 16:48:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:48:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_363 +[05/24 16:48:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_363 in 4.10s (batch: 3.99s, save: 0.11s) +[05/24 16:48:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_363 +[05/24 16:48:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 363: 1/2 successful episodes +[05/24 16:48:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 370 (index 31/83) +[05/24 16:48:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 370 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:48:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_370_ceiling.xml +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=370, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:48:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:48:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 370 episode 0/1 collected=0/3 +[05/24 16:48:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 370 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_9 completed with success=True +[05/24 16:48:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_370: 1 episodes +[05/24 16:48:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:48:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_370 +[05/24 16:48:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_370 in 1.87s (batch: 1.84s, save: 0.03s) +[05/24 16:48:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_370 +[05/24 16:48:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 370: 1/1 successful episodes +[05/24 16:48:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 376 (index 32/83) +[05/24 16:48:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 376 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:48:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_376_ceiling.xml +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 16:48:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 16:48:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 376 episode 0/2 collected=0/3 +[05/24 16:48:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 376 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=True +[05/24 16:48:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_376_ceiling.xml +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=376, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 16:48:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the apple' +[05/24 16:48:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 376 episode 1/2 collected=1/3 +[05/24 16:48:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 376 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 16:50:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_376: 2 episodes +[05/24 16:50:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:50:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_376 +[05/24 16:50:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_376 in 4.14s (batch: 4.02s, save: 0.12s) +[05/24 16:50:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_376 +[05/24 16:50:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 376: 1/2 successful episodes +[05/24 16:50:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 395 (index 33/83) +[05/24 16:50:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 395 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:50:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_395_ceiling.xml +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=395, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:50:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:50:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 395 episode 0/2 collected=0/3 +[05/24 16:50:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 395 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:50:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_395_ceiling.xml +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=395, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:50:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:50:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 395 episode 1/2 collected=1/3 +[05/24 16:50:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 395 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:50:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_395: 2 episodes +[05/24 16:50:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 32 timesteps +[05/24 16:50:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_395 +[05/24 16:50:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_395 in 3.86s (batch: 3.81s, save: 0.05s) +[05/24 16:50:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_395 +[05/24 16:50:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 395: 2/2 successful episodes +[05/24 16:50:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 406 (index 34/83) +[05/24 16:50:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 406 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:50:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_406_ceiling.xml +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=406, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:50:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal cooking pot' +[05/24 16:50:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 406 episode 0/1 collected=0/3 +[05/24 16:50:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 406 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 16:52:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_406: 1 episodes +[05/24 16:52:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_406 +[05/24 16:52:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_406 in 2.15s (batch: 2.06s, save: 0.09s) +[05/24 16:52:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_406 +[05/24 16:52:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 406: 0/1 successful episodes +[05/24 16:52:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 425 (index 35/83) +[05/24 16:52:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 425 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:52:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_425_ceiling.xml +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=425, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:52:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:52:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 425 episode 0/1 collected=0/3 +[05/24 16:52:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 425 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:52:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_425: 1 episodes +[05/24 16:52:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:52:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_425 +[05/24 16:52:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_425 in 2.08s (batch: 2.04s, save: 0.04s) +[05/24 16:52:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_425 +[05/24 16:52:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 425: 1/1 successful episodes +[05/24 16:52:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 427 (index 36/83) +[05/24 16:52:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 427 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:52:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_427_ceiling.xml +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=427, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:52:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 16:52:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 427 episode 0/2 collected=0/3 +[05/24 16:52:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 427 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:53:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_427_ceiling.xml +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=427, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:53:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:53:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 427 episode 1/2 collected=1/3 +[05/24 16:53:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 427 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:54:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_427: 2 episodes +[05/24 16:54:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:54:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_427 +[05/24 16:54:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_427 in 4.12s (batch: 4.01s, save: 0.11s) +[05/24 16:54:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_427 +[05/24 16:54:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 427: 1/2 successful episodes +[05/24 16:54:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 446 (index 37/83) +[05/24 16:54:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 446 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:54:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_446_ceiling.xml +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=446, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:54:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:54:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 446 episode 0/2 collected=0/3 +[05/24 16:54:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 446 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 16:54:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_446_ceiling.xml +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=446, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:54:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 446 episode 1/2 collected=1/3 +[05/24 16:54:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 446 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:55:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_446: 2 episodes +[05/24 16:55:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 66 timesteps +[05/24 16:55:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_446 +[05/24 16:55:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_446 in 4.55s (batch: 4.43s, save: 0.12s) +[05/24 16:55:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_446 +[05/24 16:55:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 446: 1/2 successful episodes +[05/24 16:55:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 447 (index 38/83) +[05/24 16:55:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 447 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:55:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_447_ceiling.xml +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=447, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 16:56:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 447 episode 0/1 collected=0/3 +[05/24 16:56:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 447 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_2_0_8 completed with success=True +[05/24 16:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_447: 1 episodes +[05/24 16:56:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:56:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_447 +[05/24 16:56:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_447 in 1.91s (batch: 1.87s, save: 0.03s) +[05/24 16:56:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_447 +[05/24 16:56:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 447: 1/1 successful episodes +[05/24 16:56:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 473 (index 39/83) +[05/24 16:56:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 473 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 16:56:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_473_ceiling.xml +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=473, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:56:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 16:56:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 473 episode 0/2 collected=0/3 +[05/24 16:56:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 473 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_3_0_6 completed with success=True +[05/24 16:56:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_473_ceiling.xml +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=473, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:57:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentality' +[05/24 16:57:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 473 episode 1/2 collected=1/3 +[05/24 16:57:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 473 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 17:00:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_473: 2 episodes +[05/24 17:00:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:00:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:36 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_473 +[05/24 17:00:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_473 in 4.23s (batch: 4.12s, save: 0.11s) +[05/24 17:00:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_473 +[05/24 17:00:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 473: 1/2 successful episodes +[05/24 17:00:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 481 (index 40/83) +[05/24 17:00:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 481 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:00:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_481_ceiling.xml +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=481, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 6 objects +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle' +[05/24 17:00:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 481 episode 0/1 collected=0/3 +[05/24 17:00:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 481 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=True +[05/24 17:00:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_481: 1 episodes +[05/24 17:00:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:00:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_481 +[05/24 17:00:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_481 in 1.90s (batch: 1.87s, save: 0.03s) +[05/24 17:00:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_481 +[05/24 17:00:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 481: 1/1 successful episodes +[05/24 17:00:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 495 (index 41/83) +[05/24 17:00:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 495 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:00:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_495_ceiling.xml +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=495, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:00:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:00:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 495 episode 0/1 collected=0/3 +[05/24 17:00:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 495 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_11 completed with success=False +[05/24 17:02:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_495: 1 episodes +[05/24 17:02:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_495 +[05/24 17:02:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_495 in 2.26s (batch: 2.17s, save: 0.09s) +[05/24 17:02:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_495 +[05/24 17:02:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 495: 0/1 successful episodes +[05/24 17:02:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 512 (index 42/83) +[05/24 17:02:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 512 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:02:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_512_ceiling.xml +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=512, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 84 objects +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box' +[05/24 17:02:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 512 episode 0/2 collected=0/3 +[05/24 17:02:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 512 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_10 completed with success=False +[05/24 17:03:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_512_ceiling.xml +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=512, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 84 objects +[05/24 17:03:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 17:03:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 512 episode 1/2 collected=1/3 +[05/24 17:03:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 512 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_512: 2 episodes +[05/24 17:04:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:04:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:04:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_512 +[05/24 17:04:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_512 in 4.10s (batch: 3.97s, save: 0.13s) +[05/24 17:04:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_512 +[05/24 17:04:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 512: 1/2 successful episodes +[05/24 17:04:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 513 (index 43/83) +[05/24 17:04:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 513 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:04:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_513_ceiling.xml +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=513, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:04:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 17:04:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 513 episode 0/1 collected=0/3 +[05/24 17:04:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 513 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 17:04:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_513: 1 episodes +[05/24 17:04:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:04:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_513 +[05/24 17:04:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_513 in 2.07s (batch: 2.04s, save: 0.03s) +[05/24 17:04:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_513 +[05/24 17:04:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 513: 1/1 successful episodes +[05/24 17:04:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 528 (index 44/83) +[05/24 17:04:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 528 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:04:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_528_ceiling.xml +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=528, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:04:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 17:04:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 528 episode 0/1 collected=0/3 +[05/24 17:04:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 528 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False +[05/24 17:05:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_528: 1 episodes +[05/24 17:05:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_528 +[05/24 17:05:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_528 in 2.24s (batch: 2.15s, save: 0.09s) +[05/24 17:06:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_528 +[05/24 17:06:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 528: 0/1 successful episodes +[05/24 17:06:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 541 (index 45/83) +[05/24 17:06:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 541 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:06:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_541_ceiling.xml +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=541, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 132 objects +[05/24 17:06:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the fork' +[05/24 17:06:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 541 episode 0/2 collected=0/3 +[05/24 17:06:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 541 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_4_0_2 completed with success=True +[05/24 17:06:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_541_ceiling.xml +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=541, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 132 objects +[05/24 17:06:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 17:06:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 541 episode 1/2 collected=1/3 +[05/24 17:06:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 541 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 17:07:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_541: 2 episodes +[05/24 17:07:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:07:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:07:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_541 +[05/24 17:07:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_541 in 3.81s (batch: 3.76s, save: 0.06s) +[05/24 17:07:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_541 +[05/24 17:07:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 541: 2/2 successful episodes +[05/24 17:07:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 552 (index 46/83) +[05/24 17:07:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 552 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:07:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_552_ceiling.xml +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=552, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:07:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:07:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 552 episode 0/2 collected=0/3 +[05/24 17:07:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 552 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_8 completed with success=True +[05/24 17:07:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_552_ceiling.xml +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=552, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:07:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 552 episode 1/2 collected=1/3 +[05/24 17:07:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 552 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_8 completed with success=False +[05/24 17:08:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_552: 2 episodes +[05/24 17:08:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:08:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_552 +[05/24 17:08:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_552 in 4.36s (batch: 4.25s, save: 0.11s) +[05/24 17:08:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_552 +[05/24 17:08:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 552: 1/2 successful episodes +[05/24 17:08:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 554 (index 47/83) +[05/24 17:08:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 554 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:08:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_554_ceiling.xml +[05/24 17:08:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=554, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:08:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:08:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 554 episode 0/1 collected=0/3 +[05/24 17:08:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 554 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:10:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_554: 1 episodes +[05/24 17:10:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_554 +[05/24 17:10:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_554 in 2.34s (batch: 2.24s, save: 0.10s) +[05/24 17:10:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_554 +[05/24 17:10:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 554: 0/1 successful episodes +[05/24 17:10:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 574 (index 48/83) +[05/24 17:10:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 574 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:10:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_574_ceiling.xml +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=574, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:10:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:10:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 574 episode 0/1 collected=0/3 +[05/24 17:10:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 574 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 17:10:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_574: 1 episodes +[05/24 17:10:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:10:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_574 +[05/24 17:10:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_574 in 2.02s (batch: 1.99s, save: 0.03s) +[05/24 17:10:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_574 +[05/24 17:10:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 574: 1/1 successful episodes +[05/24 17:10:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 576 (index 49/83) +[05/24 17:10:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 576 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:10:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_576_ceiling.xml +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=576, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 17:10:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:10:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 576 episode 0/2 collected=0/3 +[05/24 17:10:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 576 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_7 completed with success=True +[05/24 17:11:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_576_ceiling.xml +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=576, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 17:11:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 17:11:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 576 episode 1/2 collected=1/3 +[05/24 17:11:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 576 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_8 completed with success=True +[05/24 17:11:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_576: 2 episodes +[05/24 17:11:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 223 timesteps +[05/24 17:11:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:11:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_576 +[05/24 17:11:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_576 in 4.13s (batch: 4.05s, save: 0.08s) +[05/24 17:11:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_576 +[05/24 17:11:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 576: 2/2 successful episodes +[05/24 17:11:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 598 (index 50/83) +[05/24 17:11:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 598 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:11:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_598_ceiling.xml +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=598, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 17:11:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 17:11:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 598 episode 0/1 collected=0/3 +[05/24 17:11:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 598 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=True +[05/24 17:12:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_598: 1 episodes +[05/24 17:12:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 17:12:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_598 +[05/24 17:12:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_598 in 1.89s (batch: 1.87s, save: 0.02s) +[05/24 17:12:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_598 +[05/24 17:12:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 598: 1/1 successful episodes +[05/24 17:12:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 599 (index 51/83) +[05/24 17:12:10 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 599 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:12:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_599_ceiling.xml +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=599, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 17:12:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 17:12:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 599 episode 0/2 collected=0/3 +[05/24 17:12:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 599 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:13:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_599_ceiling.xml +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=599, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 17:13:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray bowl' +[05/24 17:13:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 599 episode 1/2 collected=1/3 +[05/24 17:13:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 599 episode 1 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=False +[05/24 17:14:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_599: 2 episodes +[05/24 17:14:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_599 +[05/24 17:14:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_599 in 4.23s (batch: 4.07s, save: 0.16s) +[05/24 17:14:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_599 +[05/24 17:14:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 599: 0/2 successful episodes +[05/24 17:14:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 616 (index 52/83) +[05/24 17:14:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 616 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:14:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_616_ceiling.xml +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=616, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black mug' +[05/24 17:14:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 616 episode 0/1 collected=0/3 +[05/24 17:14:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 616 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:15:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_616: 1 episodes +[05/24 17:15:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:15:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_616 +[05/24 17:15:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_616 in 2.26s (batch: 2.17s, save: 0.08s) +[05/24 17:15:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_616 +[05/24 17:15:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 616: 0/1 successful episodes +[05/24 17:15:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 629 (index 53/83) +[05/24 17:15:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 629 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:15:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_629_ceiling.xml +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=629, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:15:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark pot' +[05/24 17:15:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 629 episode 0/2 collected=0/3 +[05/24 17:15:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 629 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=True +[05/24 17:16:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_629_ceiling.xml +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=629, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:16:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:16:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 629 episode 1/2 collected=1/3 +[05/24 17:16:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 629 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 17:16:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_629: 2 episodes +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 123 timesteps +[05/24 17:16:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:16:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_629 +[05/24 17:16:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_629 in 3.79s (batch: 3.73s, save: 0.06s) +[05/24 17:16:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_629 +[05/24 17:16:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 629: 2/2 successful episodes +[05/24 17:16:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 643 (index 54/83) +[05/24 17:16:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 643 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:16:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_643_ceiling.xml +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=643, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:16:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:16:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 643 episode 0/2 collected=0/3 +[05/24 17:16:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 643 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_8 completed with success=True +[05/24 17:16:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_643_ceiling.xml +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=643, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:16:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 17:16:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 643 episode 1/2 collected=1/3 +[05/24 17:16:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 643 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_8 completed with success=False +[05/24 17:18:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_643: 2 episodes +[05/24 17:18:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:18:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:18:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_643 +[05/24 17:18:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_643 in 4.19s (batch: 4.08s, save: 0.11s) +[05/24 17:18:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_643 +[05/24 17:18:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 643: 1/2 successful episodes +[05/24 17:18:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 653 (index 55/83) +[05/24 17:18:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 653 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:18:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_653_ceiling.xml +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=653, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 4 objects +[05/24 17:18:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue paper' +[05/24 17:18:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 653 episode 0/1 collected=0/3 +[05/24 17:18:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 653 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:18:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_653: 1 episodes +[05/24 17:18:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 17:18:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_653 +[05/24 17:18:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_653 in 2.07s (batch: 2.03s, save: 0.03s) +[05/24 17:18:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_653 +[05/24 17:18:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 653: 1/1 successful episodes +[05/24 17:18:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 666 (index 56/83) +[05/24 17:18:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 666 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:18:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_666_ceiling.xml +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=666, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:18:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth cup' +[05/24 17:18:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 666 episode 0/1 collected=0/3 +[05/24 17:18:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 666 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True +[05/24 17:19:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_666: 1 episodes +[05/24 17:19:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 169 timesteps +[05/24 17:19:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_666 +[05/24 17:19:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_666 in 2.03s (batch: 1.98s, save: 0.05s) +[05/24 17:19:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_666 +[05/24 17:19:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 666: 1/1 successful episodes +[05/24 17:19:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 675 (index 57/83) +[05/24 17:19:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 675 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:19:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_675_ceiling.xml +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=675, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:19:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 675 episode 0/2 collected=0/3 +[05/24 17:19:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 675 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True +[05/24 17:19:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_675_ceiling.xml +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=675, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork' +[05/24 17:19:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 675 episode 1/2 collected=1/3 +[05/24 17:19:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 675 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=False +[05/24 17:21:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_675: 2 episodes +[05/24 17:21:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:21:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_675 +[05/24 17:21:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_675 in 4.53s (batch: 4.41s, save: 0.13s) +[05/24 17:21:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_675 +[05/24 17:21:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 675: 1/2 successful episodes +[05/24 17:21:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 691 (index 58/83) +[05/24 17:21:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 691 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:21:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_691_ceiling.xml +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=691, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:21:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:21:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 691 episode 0/1 collected=0/3 +[05/24 17:21:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 691 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 17:21:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_691: 1 episodes +[05/24 17:21:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:21:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_691 +[05/24 17:21:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_691 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 17:21:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_691 +[05/24 17:21:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 691: 1/1 successful episodes +[05/24 17:21:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 706 (index 59/83) +[05/24 17:21:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 706 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:21:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_706_ceiling.xml +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=706, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:21:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:21:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 706 episode 0/2 collected=0/3 +[05/24 17:21:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 706 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:21:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_706_ceiling.xml +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=706, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:22:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue pot with handles' +[05/24 17:22:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 706 episode 1/2 collected=1/3 +[05/24 17:22:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 706 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 17:22:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_706: 2 episodes +[05/24 17:22:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:22:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_706 +[05/24 17:22:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_706 in 4.15s (batch: 4.10s, save: 0.05s) +[05/24 17:22:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_706 +[05/24 17:22:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 706: 2/2 successful episodes +[05/24 17:22:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 707 (index 60/83) +[05/24 17:22:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 707 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:22:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_707_ceiling.xml +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=707, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 17:22:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle with handle' +[05/24 17:22:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 707 episode 0/1 collected=0/3 +[05/24 17:22:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 707 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True +[05/24 17:22:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_707: 1 episodes +[05/24 17:22:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:22:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_707 +[05/24 17:22:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_707 in 1.88s (batch: 1.84s, save: 0.03s) +[05/24 17:22:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_707 +[05/24 17:22:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 707: 1/1 successful episodes +[05/24 17:22:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 725 (index 61/83) +[05/24 17:22:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 725 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:22:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_725_ceiling.xml +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=725, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:22:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:22:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 725 episode 0/1 collected=0/3 +[05/24 17:22:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 725 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:22:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_725: 1 episodes +[05/24 17:22:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:22:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_725 +[05/24 17:22:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_725 in 1.91s (batch: 1.88s, save: 0.03s) +[05/24 17:22:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_725 +[05/24 17:22:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 725: 1/1 successful episodes +[05/24 17:22:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 739 (index 62/83) +[05/24 17:22:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 739 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:22:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_739_ceiling.xml +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=739, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 17:22:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with bronze pump' +[05/24 17:22:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 739 episode 0/2 collected=0/3 +[05/24 17:22:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 739 episode 0 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_2 completed with success=False +[05/24 17:24:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_739_ceiling.xml +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=739, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 17:24:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:24:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 739 episode 1/2 collected=1/3 +[05/24 17:24:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 739 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:25:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_739: 2 episodes +[05/24 17:25:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_739 +[05/24 17:25:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_739 in 4.66s (batch: 4.50s, save: 0.17s) +[05/24 17:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_739 +[05/24 17:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 739: 0/2 successful episodes +[05/24 17:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 750 (index 63/83) +[05/24 17:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 750 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_750_ceiling.xml +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=750, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:25:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 17:25:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 750 episode 0/1 collected=0/3 +[05/24 17:25:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 750 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_2 completed with success=False +[05/24 17:26:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_750: 1 episodes +[05/24 17:26:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_750 +[05/24 17:26:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_750 in 2.19s (batch: 2.10s, save: 0.09s) +[05/24 17:26:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_750 +[05/24 17:26:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 750: 0/1 successful episodes +[05/24 17:26:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 770 (index 64/83) +[05/24 17:26:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 770 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:26:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_770_ceiling.xml +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=770, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:26:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 17:26:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 770 episode 0/1 collected=0/3 +[05/24 17:26:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 770 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=False +[05/24 17:27:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_770: 1 episodes +[05/24 17:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_770 +[05/24 17:27:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_770 in 2.28s (batch: 2.18s, save: 0.09s) +[05/24 17:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_770 +[05/24 17:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 770: 0/1 successful episodes +[05/24 17:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 773 (index 65/83) +[05/24 17:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 773 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:27:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_773_ceiling.xml +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=773, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife' +[05/24 17:28:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 773 episode 0/2 collected=0/3 +[05/24 17:28:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 773 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 17:29:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_773_ceiling.xml +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=773, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:29:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:29:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 773 episode 1/2 collected=1/3 +[05/24 17:29:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 773 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:30:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_773: 2 episodes +[05/24 17:30:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_773 +[05/24 17:30:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_773 in 4.62s (batch: 4.45s, save: 0.17s) +[05/24 17:30:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_773 +[05/24 17:30:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 773: 0/2 successful episodes +[05/24 17:30:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 793 (index 66/83) +[05/24 17:30:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 793 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:30:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_793_ceiling.xml +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=793, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:30:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 17:30:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 793 episode 0/1 collected=0/3 +[05/24 17:30:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 793 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 17:30:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_793: 1 episodes +[05/24 17:30:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:30:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_793 +[05/24 17:30:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_793 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 17:30:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_793 +[05/24 17:30:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 793: 1/1 successful episodes +[05/24 17:30:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 806 (index 67/83) +[05/24 17:30:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 806 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:30:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_806_ceiling.xml +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=806, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:30:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:30:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 806 episode 0/2 collected=0/3 +[05/24 17:30:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 806 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:31:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_806_ceiling.xml +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=806, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:31:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple' +[05/24 17:31:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 806 episode 1/2 collected=1/3 +[05/24 17:31:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 806 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_8 completed with success=False +[05/24 17:32:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_806: 2 episodes +[05/24 17:32:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 21 timesteps +[05/24 17:32:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:32:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_806 +[05/24 17:32:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_806 in 4.45s (batch: 4.34s, save: 0.11s) +[05/24 17:32:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_806 +[05/24 17:32:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 806: 1/2 successful episodes +[05/24 17:32:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 822 (index 68/83) +[05/24 17:32:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 822 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:32:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_822_ceiling.xml +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=822, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:32:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 822 episode 0/1 collected=0/3 +[05/24 17:32:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 822 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_6 completed with success=True +[05/24 17:32:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_822: 1 episodes +[05/24 17:32:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:32:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_822 +[05/24 17:32:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_822 in 1.90s (batch: 1.87s, save: 0.03s) +[05/24 17:32:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_822 +[05/24 17:32:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 822: 1/1 successful episodes +[05/24 17:32:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 832 (index 69/83) +[05/24 17:32:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 832 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:32:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_832_ceiling.xml +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=832, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:32:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:32:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 832 episode 0/2 collected=0/3 +[05/24 17:32:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 832 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=True +[05/24 17:33:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_832_ceiling.xml +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=832, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:33:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:33:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 832 episode 1/2 collected=1/3 +[05/24 17:33:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 832 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:33:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_832: 2 episodes +[05/24 17:33:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/24 17:33:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 17:33:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_832 +[05/24 17:33:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_832 in 3.89s (batch: 3.82s, save: 0.07s) +[05/24 17:33:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_832 +[05/24 17:33:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 832: 2/2 successful episodes +[05/24 17:33:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 847 (index 70/83) +[05/24 17:33:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 847 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:33:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_847_ceiling.xml +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=847, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:33:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:33:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 847 episode 0/2 collected=0/3 +[05/24 17:33:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 847 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=True +[05/24 17:34:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_847_ceiling.xml +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=847, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:34:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cup' +[05/24 17:34:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 847 episode 1/2 collected=1/3 +[05/24 17:34:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 847 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 17:34:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_847: 2 episodes +[05/24 17:34:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:34:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:34:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_847 +[05/24 17:34:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_847 in 3.84s (batch: 3.76s, save: 0.08s) +[05/24 17:34:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_847 +[05/24 17:34:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 847: 2/2 successful episodes +[05/24 17:34:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 856 (index 71/83) +[05/24 17:34:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 856 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:34:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_856_ceiling.xml +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=856, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 17:34:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 17:34:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 856 episode 0/1 collected=0/3 +[05/24 17:34:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 856 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=False +[05/24 17:36:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_856: 1 episodes +[05/24 17:36:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_856 +[05/24 17:36:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_856 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 17:36:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_856 +[05/24 17:36:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 856: 0/1 successful episodes +[05/24 17:36:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 871 (index 72/83) +[05/24 17:36:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 871 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:36:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_871_ceiling.xml +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=871, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 17:36:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:36:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 871 episode 0/2 collected=0/3 +[05/24 17:36:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 871 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 17:37:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_871_ceiling.xml +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=871, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 17:37:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with green stem' +[05/24 17:37:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 871 episode 1/2 collected=1/3 +[05/24 17:37:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 871 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=True +[05/24 17:37:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_871: 2 episodes +[05/24 17:37:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:37:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_871 +[05/24 17:37:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_871 in 4.25s (batch: 4.14s, save: 0.11s) +[05/24 17:37:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_871 +[05/24 17:37:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 871: 1/2 successful episodes +[05/24 17:37:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 887 (index 73/83) +[05/24 17:37:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 887 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:37:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_887_ceiling.xml +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=887, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:37:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 887 episode 0/2 collected=0/3 +[05/24 17:37:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 887 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:37:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_887_ceiling.xml +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=887, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:37:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stainless steel kitchen ladle' +[05/24 17:37:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 887 episode 1/2 collected=1/3 +[05/24 17:37:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 887 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 17:39:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_887: 2 episodes +[05/24 17:39:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:39:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_887 +[05/24 17:39:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_887 in 4.35s (batch: 4.24s, save: 0.11s) +[05/24 17:39:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_887 +[05/24 17:39:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 887: 1/2 successful episodes +[05/24 17:39:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 899 (index 74/83) +[05/24 17:39:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 899 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:39:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_899_ceiling.xml +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=899, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:39:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handled knife' +[05/24 17:39:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 899 episode 0/2 collected=0/3 +[05/24 17:39:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 899 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_6 completed with success=True +[05/24 17:39:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_899_ceiling.xml +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=899, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:39:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 17:39:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 899 episode 1/2 collected=1/3 +[05/24 17:39:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 899 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=False +[05/24 17:41:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_899: 2 episodes +[05/24 17:41:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:41:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_899 +[05/24 17:41:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_899 in 4.47s (batch: 4.36s, save: 0.11s) +[05/24 17:41:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_899 +[05/24 17:41:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 899: 1/2 successful episodes +[05/24 17:41:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 900 (index 75/83) +[05/24 17:41:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 900 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:41:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_900_ceiling.xml +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=900, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 111 objects +[05/24 17:41:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:41:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 900 episode 0/1 collected=0/3 +[05/24 17:41:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 900 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_900: 1 episodes +[05/24 17:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:42:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_900 +[05/24 17:42:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_900 in 2.14s (batch: 2.06s, save: 0.09s) +[05/24 17:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_900 +[05/24 17:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 900: 0/1 successful episodes +[05/24 17:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 922 (index 76/83) +[05/24 17:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 922 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_922_ceiling.xml +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=922, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:42:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker' +[05/24 17:42:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 922 episode 0/2 collected=0/3 +[05/24 17:42:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 922 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:43:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_922_ceiling.xml +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=922, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:43:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:43:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 922 episode 1/2 collected=1/3 +[05/24 17:43:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 922 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 17:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_922: 2 episodes +[05/24 17:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:43:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:43:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_922 +[05/24 17:43:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_922 in 3.83s (batch: 3.75s, save: 0.08s) +[05/24 17:43:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_922 +[05/24 17:43:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 922: 2/2 successful episodes +[05/24 17:43:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 924 (index 77/83) +[05/24 17:43:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 924 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:43:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_924_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=924, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the remotecontrol' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 924 episode 0/1 collected=0/3 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 924 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 17:43:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_924: 1 episodes +[05/24 17:43:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:43:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_924 +[05/24 17:43:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_924 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 17:43:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_924 +[05/24 17:43:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 924: 1/1 successful episodes +[05/24 17:43:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 943 (index 78/83) +[05/24 17:43:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 943 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:43:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_943_ceiling.xml +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=943, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:43:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:43:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 943 episode 0/1 collected=0/3 +[05/24 17:43:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 943 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_2 completed with success=True +[05/24 17:44:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_943: 1 episodes +[05/24 17:44:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:44:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_943 +[05/24 17:44:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_943 in 1.92s (batch: 1.89s, save: 0.03s) +[05/24 17:44:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_943 +[05/24 17:44:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 943: 1/1 successful episodes +[05/24 17:44:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 944 (index 79/83) +[05/24 17:44:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 944 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:44:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_944_ceiling.xml +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=944, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 17:44:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 944 episode 0/2 collected=0/3 +[05/24 17:44:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 944 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_5 completed with success=True +[05/24 17:44:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_944_ceiling.xml +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=944, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:44:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with pump' +[05/24 17:44:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 944 episode 1/2 collected=1/3 +[05/24 17:44:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 944 episode 1 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_2 completed with success=True +[05/24 17:44:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_944: 2 episodes +[05/24 17:44:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/24 17:44:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/24 17:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_944 +[05/24 17:45:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_944 in 3.95s (batch: 3.89s, save: 0.07s) +[05/24 17:45:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_944 +[05/24 17:45:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 944: 2/2 successful episodes +[05/24 17:45:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 965 (index 80/83) +[05/24 17:45:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 965 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:45:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_965_ceiling.xml +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=965, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:45:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:45:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 965 episode 0/2 collected=0/3 +[05/24 17:45:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 965 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:45:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_965_ceiling.xml +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=965, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple with stem' +[05/24 17:45:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 965 episode 1/2 collected=1/3 +[05/24 17:45:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 965 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 17:46:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_965: 2 episodes +[05/24 17:46:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:46:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_965 +[05/24 17:46:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_965 in 4.50s (batch: 4.39s, save: 0.11s) +[05/24 17:47:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_965 +[05/24 17:47:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 965: 1/2 successful episodes +[05/24 17:47:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 968 (index 81/83) +[05/24 17:47:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 968 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:47:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_968_ceiling.xml +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=968, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:47:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 17:47:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 968 episode 0/1 collected=0/3 +[05/24 17:47:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 968 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:47:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_968: 1 episodes +[05/24 17:47:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:47:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_968 +[05/24 17:47:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_968 in 2.10s (batch: 2.07s, save: 0.03s) +[05/24 17:47:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_968 +[05/24 17:47:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 968: 1/1 successful episodes +[05/24 17:47:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 984 (index 82/83) +[05/24 17:47:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 984 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_00 +[05/24 17:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_984_ceiling.xml +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=984, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:47:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy smooth red apple' +[05/24 17:47:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 984 episode 0/2 collected=0/3 +[05/24 17:47:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 984 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:48:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_984_ceiling.xml +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=984, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:48:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:48:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 984 episode 1/2 collected=1/3 +[05/24 17:48:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 984 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:49:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_984: 2 episodes +[05/24 17:49:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_984 +[05/24 17:49:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_984 in 4.36s (batch: 4.19s, save: 0.16s) +[05/24 17:49:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_984 +[05/24 17:49:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 984: 0/2 successful episodes +[05/24 17:49:33 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:49:34 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 17:49:34 INFO pipeline.py:1499] Success count: 74, Total count: 125 +[05/24 17:49:34 INFO pipeline.py:1500] Success rate: 59.20% +Combined 125 episodes from 83 files → /tmp/tmpl1rr8rvv.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/results.csv at-end: 59.2% | oracle: 59.2% of 125 episodes +[2026-05-24 17:49:42,872] INFO MolmoSpaces simulator eval finished: success=74/125 rate=0.5920 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval +[2026-05-24 17:49:42,872] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_00/run_command.sh diff --git a/pick_msproc/pick_msproc/submission/shard_01.launcher.log b/pick_msproc/pick_msproc/submission/shard_01.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..5483b42f3e136cc95bc6195a55db895a292b2708 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_01.launcher.log @@ -0,0 +1,2985 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,453] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,515] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,545] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 (source=arg) +[2026-05-24 15:59:56,740] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,042] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:44,140] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:44,141] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,531] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,609] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,648] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 3 episodes each (249 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [5, + 33, + 38, + 49, + 72, + 76, + 91, + 100, + 105, + 115, + 132, + 140, + 161, + 169, + 184, + 198, + 203, + 209, + 219, + 231, + 246, + 253, + 264, + 288, + 295, + 312, + 319, + 332, + 336, + 353, + 364, + 378, + 381, + 398, + 407, + 428, + 429, + 450, + 452, + 474, + 482, + 497, + 514, + 515, + 531, + 542, + 555, + 560, + 577, + 581, + 602, + 610, + 622, + 630, + 644, + 654, + 668, + 676, + 692, + 711, + 726, + 727, + 746, + 752, + 771, + 774, + 795, + 809, + 828, + 834, + 848, + 863, + 874, + 889, + 901, + 902, + 925, + 926, + 945, + 952, + 966, + 971, + 985], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 3, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,654] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 5 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 5 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:46 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,778:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,778] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_5_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=5, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 5 episode 0/1 collected=0/3 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.867 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:08,306] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:08,732] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:13,883] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:19,705] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:19,709] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 5 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:07:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_5: 1 episodes +[05/24 16:07:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:07:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_5 +[05/24 16:07:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_5 in 2.60s (batch: 2.51s, save: 0.09s) +[05/24 16:07:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_5 +[05/24 16:07:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 5: 0/1 successful episodes +[05/24 16:07:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 33 (index 1/83) +[05/24 16:07:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 33 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:07:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_33_ceiling.xml +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=33, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:07:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:07:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 33 episode 0/1 collected=0/3 +[05/24 16:07:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 33 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:07:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_33: 1 episodes +[05/24 16:07:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:07:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_33 +[05/24 16:07:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_33 in 2.35s (batch: 2.32s, save: 0.03s) +[05/24 16:07:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_33 +[05/24 16:07:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 33: 1/1 successful episodes +[05/24 16:07:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 38 (index 2/83) +[05/24 16:07:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 38 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:07:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:08:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:08:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 38 episode 0/2 collected=0/3 +[05/24 16:08:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:08:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 38 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:08:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_38_ceiling.xml +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=38, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:08:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:08:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 38 episode 1/2 collected=1/3 +[05/24 16:08:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 38 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:09:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_38: 2 episodes +[05/24 16:09:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 16:09:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_38 +[05/24 16:09:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_38 in 4.70s (batch: 4.58s, save: 0.11s) +[05/24 16:09:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_38 +[05/24 16:09:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 38: 1/2 successful episodes +[05/24 16:09:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 49 (index 3/83) +[05/24 16:09:43 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 49 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:09:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_49_ceiling.xml +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=49, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:09:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:09:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 49 episode 0/1 collected=0/3 +[05/24 16:09:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 49 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:11:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_49: 1 episodes +[05/24 16:11:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:11:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_49 +[05/24 16:11:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_49 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 16:11:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_49 +[05/24 16:11:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 49: 0/1 successful episodes +[05/24 16:11:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 72 (index 4/83) +[05/24 16:11:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 72 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:11:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_72_ceiling.xml +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=72, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:11:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:11:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 72 episode 0/1 collected=0/3 +[05/24 16:11:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 72 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:12:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_72: 1 episodes +[05/24 16:12:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_72 +[05/24 16:12:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_72 in 2.41s (batch: 2.33s, save: 0.08s) +[05/24 16:12:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_72 +[05/24 16:12:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 72: 0/1 successful episodes +[05/24 16:12:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 76 (index 5/83) +[05/24 16:12:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 76 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:12:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:12:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vessel' +[05/24 16:12:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 76 episode 0/2 collected=0/3 +[05/24 16:12:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 76 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=False +[05/24 16:13:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_76_ceiling.xml +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=76, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:13:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:13:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 76 episode 1/2 collected=1/3 +[05/24 16:13:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 76 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_2 completed with success=False +[05/24 16:15:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_76: 2 episodes +[05/24 16:15:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_76 +[05/24 16:15:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_76 in 4.87s (batch: 4.70s, save: 0.16s) +[05/24 16:15:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_76 +[05/24 16:15:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 76: 0/2 successful episodes +[05/24 16:15:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 91 (index 6/83) +[05/24 16:15:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 91 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:15:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:15:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:15:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 91 episode 0/2 collected=0/3 +[05/24 16:15:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 91 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:16:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_91_ceiling.xml +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=91, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:16:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:16:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 91 episode 1/2 collected=1/3 +[05/24 16:16:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 91 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=False +[05/24 16:18:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_91: 2 episodes +[05/24 16:18:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_91 +[05/24 16:18:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_91 in 5.42s (batch: 5.25s, save: 0.18s) +[05/24 16:18:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_91 +[05/24 16:18:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 91: 0/2 successful episodes +[05/24 16:18:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 100 (index 7/83) +[05/24 16:18:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 100 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:18:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_100_ceiling.xml +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=100, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:18:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:18:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 100 episode 0/1 collected=0/3 +[05/24 16:18:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 100 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:19:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_100: 1 episodes +[05/24 16:19:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:19:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_100 +[05/24 16:19:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_100 in 1.97s (batch: 1.87s, save: 0.10s) +[05/24 16:19:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_100 +[05/24 16:19:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 100: 0/1 successful episodes +[05/24 16:19:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 105 (index 8/83) +[05/24 16:19:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 105 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:19:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:19:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 105 episode 0/2 collected=0/3 +[05/24 16:19:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 105 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:21:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_105_ceiling.xml +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=105, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:21:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:21:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 105 episode 1/2 collected=1/3 +[05/24 16:21:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 105 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_8 completed with success=False +[05/24 16:22:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_105: 2 episodes +[05/24 16:22:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:34 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_105 +[05/24 16:22:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_105 in 4.87s (batch: 4.70s, save: 0.17s) +[05/24 16:22:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_105 +[05/24 16:22:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 105: 0/2 successful episodes +[05/24 16:22:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 115 (index 9/83) +[05/24 16:22:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 115 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:22:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:22:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:22:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 115 episode 0/2 collected=0/3 +[05/24 16:22:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 115 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:23:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_115_ceiling.xml +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=115, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:23:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:23:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 115 episode 1/2 collected=1/3 +[05/24 16:23:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 115 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_6 completed with success=True +[05/24 16:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_115: 2 episodes +[05/24 16:23:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 110 timesteps +[05/24 16:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 16:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_115 +[05/24 16:23:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_115 in 3.37s (batch: 3.31s, save: 0.06s) +[05/24 16:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_115 +[05/24 16:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 115: 2/2 successful episodes +[05/24 16:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 132 (index 10/83) +[05/24 16:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 132 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:23:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 132 episode 0/2 collected=0/3 +[05/24 16:23:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 132 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 16:25:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_132_ceiling.xml +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=132, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:25:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:25:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 132 episode 1/2 collected=1/3 +[05/24 16:25:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 132 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:27:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_132: 2 episodes +[05/24 16:27:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_132 +[05/24 16:27:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_132 in 5.06s (batch: 4.89s, save: 0.17s) +[05/24 16:27:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_132 +[05/24 16:27:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 132: 0/2 successful episodes +[05/24 16:27:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 140 (index 11/83) +[05/24 16:27:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 140 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_140_ceiling.xml +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=140, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:27:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 16:27:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 140 episode 0/1 collected=0/3 +[05/24 16:27:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 140 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True +[05/24 16:27:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_140: 1 episodes +[05/24 16:27:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:27:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_140 +[05/24 16:27:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_140 in 2.33s (batch: 2.30s, save: 0.03s) +[05/24 16:27:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_140 +[05/24 16:27:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 140: 1/1 successful episodes +[05/24 16:27:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 161 (index 12/83) +[05/24 16:27:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 161 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_161_ceiling.xml +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=161, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent plastic cup' +[05/24 16:27:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 161 episode 0/1 collected=0/3 +[05/24 16:27:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 161 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True +[05/24 16:27:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_161: 1 episodes +[05/24 16:27:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:27:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_161 +[05/24 16:27:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_161 in 2.20s (batch: 2.17s, save: 0.03s) +[05/24 16:27:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_161 +[05/24 16:27:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 161: 1/1 successful episodes +[05/24 16:27:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 169 (index 13/83) +[05/24 16:27:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 169 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:27:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butter knife' +[05/24 16:27:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 169 episode 0/2 collected=0/3 +[05/24 16:27:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:28:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_169_ceiling.xml +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=169, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:28:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper pot' +[05/24 16:28:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 169 episode 1/2 collected=1/3 +[05/24 16:28:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 169 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 16:29:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_169: 2 episodes +[05/24 16:29:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 16:29:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_169 +[05/24 16:29:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_169 in 3.86s (batch: 3.73s, save: 0.13s) +[05/24 16:29:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_169 +[05/24 16:29:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 169: 1/2 successful episodes +[05/24 16:29:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 184 (index 14/83) +[05/24 16:29:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 184 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:29:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_184_ceiling.xml +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=184, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:29:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:29:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 184 episode 0/1 collected=0/3 +[05/24 16:29:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 184 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 completed with success=False +[05/24 16:31:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_184: 1 episodes +[05/24 16:31:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_184 +[05/24 16:31:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_184 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:31:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_184 +[05/24 16:31:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 184: 0/1 successful episodes +[05/24 16:31:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 198 (index 15/83) +[05/24 16:31:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 198 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:31:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_198_ceiling.xml +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=198, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:31:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:31:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 198 episode 0/1 collected=0/3 +[05/24 16:31:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 198 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 16:31:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_198: 1 episodes +[05/24 16:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_198 +[05/24 16:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_198 in 2.24s (batch: 2.21s, save: 0.03s) +[05/24 16:31:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_198 +[05/24 16:31:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 198: 1/1 successful episodes +[05/24 16:31:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 203 (index 16/83) +[05/24 16:31:29 Worker 0 INFO json_eval_runner.py:278] Loaded 3 episodes for house 203 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:31:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 0/3 collected=0/3 +[05/24 16:31:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 16:31:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:31:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 1/3 collected=1/3 +[05/24 16:31:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 16:33:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_203_ceiling.xml +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=203, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:33:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 203 episode 2/3 collected=2/3 +[05/24 16:33:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 203 episode 2 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_3 completed with success=True +[05/24 16:33:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_203: 3 episodes +[05/24 16:33:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 16:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 128 timesteps +[05/24 16:33:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:38 Worker 0 INFO save_utils.py:703] Saved 3 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_203 +[05/24 16:33:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_203 in 6.90s (batch: 6.72s, save: 0.17s) +[05/24 16:33:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_203 +[05/24 16:33:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 203: 2/3 successful episodes +[05/24 16:33:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 209 (index 17/83) +[05/24 16:33:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 209 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:33:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:33:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:33:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 209 episode 0/2 collected=0/3 +[05/24 16:33:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 209 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:33:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_209_ceiling.xml +[05/24 16:33:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=209, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:33:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:33:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 209 episode 1/2 collected=1/3 +[05/24 16:33:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 209 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 16:34:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_209: 2 episodes +[05/24 16:34:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:34:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 16:34:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_209 +[05/24 16:34:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_209 in 3.32s (batch: 3.27s, save: 0.05s) +[05/24 16:34:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_209 +[05/24 16:34:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 209: 2/2 successful episodes +[05/24 16:34:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 219 (index 18/83) +[05/24 16:34:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 219 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:34:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_219_ceiling.xml +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=219, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:34:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife' +[05/24 16:34:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 219 episode 0/1 collected=0/3 +[05/24 16:34:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 219 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 16:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_219: 1 episodes +[05/24 16:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_219 +[05/24 16:35:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_219 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:35:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_219 +[05/24 16:35:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 219: 0/1 successful episodes +[05/24 16:35:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 231 (index 19/83) +[05/24 16:35:50 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 231 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:35:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:35:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 16:35:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 231 episode 0/2 collected=0/3 +[05/24 16:35:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 231 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:37:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_231_ceiling.xml +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=231, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:37:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:37:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 231 episode 1/2 collected=1/3 +[05/24 16:37:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 231 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:38:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_231: 2 episodes +[05/24 16:38:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_231 +[05/24 16:38:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_231 in 3.88s (batch: 3.71s, save: 0.17s) +[05/24 16:38:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_231 +[05/24 16:38:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 231: 0/2 successful episodes +[05/24 16:38:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 246 (index 20/83) +[05/24 16:38:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 246 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:38:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_246_ceiling.xml +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=246, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:38:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:38:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 246 episode 0/1 collected=0/3 +[05/24 16:38:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 246 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 16:40:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_246: 1 episodes +[05/24 16:40:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_246 +[05/24 16:40:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_246 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 16:40:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_246 +[05/24 16:40:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 246: 0/1 successful episodes +[05/24 16:40:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 253 (index 21/83) +[05/24 16:40:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 253 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:40:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 253 episode 0/2 collected=0/3 +[05/24 16:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 253 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:41:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_253_ceiling.xml +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=253, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:41:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:41:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 253 episode 1/2 collected=1/3 +[05/24 16:41:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 253 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 16:41:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_253: 2 episodes +[05/24 16:41:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_253 +[05/24 16:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_253 in 3.64s (batch: 3.51s, save: 0.12s) +[05/24 16:41:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_253 +[05/24 16:41:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 253: 1/2 successful episodes +[05/24 16:41:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 264 (index 22/83) +[05/24 16:41:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 264 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_264_ceiling.xml +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=264, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:41:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:41:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 264 episode 0/1 collected=0/3 +[05/24 16:41:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 264 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:43:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_264: 1 episodes +[05/24 16:43:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_264 +[05/24 16:43:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_264 in 2.42s (batch: 2.33s, save: 0.09s) +[05/24 16:43:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_264 +[05/24 16:43:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 264: 0/1 successful episodes +[05/24 16:43:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 288 (index 23/83) +[05/24 16:43:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 288 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:43:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:43:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:43:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 288 episode 0/2 collected=0/3 +[05/24 16:43:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 288 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=True +[05/24 16:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_288_ceiling.xml +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=288, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 288 episode 1/2 collected=1/3 +[05/24 16:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 288 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:44:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_288: 2 episodes +[05/24 16:44:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:44:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_288 +[05/24 16:44:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_288 in 4.74s (batch: 4.63s, save: 0.11s) +[05/24 16:44:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_288 +[05/24 16:44:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 288: 1/2 successful episodes +[05/24 16:44:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 295 (index 24/83) +[05/24 16:44:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 295 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_295_ceiling.xml +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=295, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:44:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:44:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 295 episode 0/1 collected=0/3 +[05/24 16:44:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 295 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_295: 1 episodes +[05/24 16:46:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_295 +[05/24 16:46:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_295 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 16:46:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_295 +[05/24 16:46:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 295: 0/1 successful episodes +[05/24 16:46:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 312 (index 25/83) +[05/24 16:46:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 312 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:46:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 16:46:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:46:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 312 episode 0/2 collected=0/3 +[05/24 16:46:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 312 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 16:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_312_ceiling.xml +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=312, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 16:47:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:47:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 312 episode 1/2 collected=1/3 +[05/24 16:47:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 312 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/24 16:48:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_312: 2 episodes +[05/24 16:48:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_312 +[05/24 16:48:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_312 in 3.86s (batch: 3.69s, save: 0.17s) +[05/24 16:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_312 +[05/24 16:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 312: 0/2 successful episodes +[05/24 16:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 319 (index 26/83) +[05/24 16:48:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 319 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_319_ceiling.xml +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=319, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects +[05/24 16:48:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:48:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 319 episode 0/1 collected=0/3 +[05/24 16:48:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 319 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_2 completed with success=True +[05/24 16:49:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_319: 1 episodes +[05/24 16:49:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 16:49:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_319 +[05/24 16:49:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_319 in 1.69s (batch: 1.65s, save: 0.04s) +[05/24 16:49:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_319 +[05/24 16:49:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 319: 1/1 successful episodes +[05/24 16:49:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 332 (index 27/83) +[05/24 16:49:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 332 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:49:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:49:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:49:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 332 episode 0/2 collected=0/3 +[05/24 16:49:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 332 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:50:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_332_ceiling.xml +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=332, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:50:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal pot' +[05/24 16:50:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 332 episode 1/2 collected=1/3 +[05/24 16:50:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 332 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True +[05/24 16:50:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_332: 2 episodes +[05/24 16:50:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_332 +[05/24 16:50:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_332 in 4.69s (batch: 4.58s, save: 0.11s) +[05/24 16:50:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_332 +[05/24 16:50:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 332: 1/2 successful episodes +[05/24 16:50:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 336 (index 28/83) +[05/24 16:50:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 336 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:50:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_336_ceiling.xml +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=336, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 16:50:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 16:50:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 336 episode 0/1 collected=0/3 +[05/24 16:50:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 336 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_3 completed with success=True +[05/24 16:51:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_336: 1 episodes +[05/24 16:51:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 16:51:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_336 +[05/24 16:51:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_336 in 2.19s (batch: 2.16s, save: 0.04s) +[05/24 16:51:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_336 +[05/24 16:51:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 336: 1/1 successful episodes +[05/24 16:51:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 353 (index 29/83) +[05/24 16:51:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 353 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:51:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_353_ceiling.xml +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=353, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:51:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:51:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 353 episode 0/1 collected=0/3 +[05/24 16:51:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 353 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_353: 1 episodes +[05/24 16:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_353 +[05/24 16:52:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_353 in 2.50s (batch: 2.40s, save: 0.10s) +[05/24 16:52:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_353 +[05/24 16:52:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 353: 0/1 successful episodes +[05/24 16:52:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 364 (index 30/83) +[05/24 16:52:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 364 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:52:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 364 episode 0/2 collected=0/3 +[05/24 16:52:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 364 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:52:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_364_ceiling.xml +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=364, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:52:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 16:52:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 364 episode 1/2 collected=1/3 +[05/24 16:52:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 364 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:54:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_364: 2 episodes +[05/24 16:54:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:54:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_364 +[05/24 16:54:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_364 in 3.64s (batch: 3.53s, save: 0.11s) +[05/24 16:54:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_364 +[05/24 16:54:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 364: 1/2 successful episodes +[05/24 16:54:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 378 (index 31/83) +[05/24 16:54:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 378 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:54:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:54:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 16:54:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 378 episode 0/2 collected=0/3 +[05/24 16:54:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 378 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 16:54:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_378_ceiling.xml +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=378, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:54:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender polished metal butter knife' +[05/24 16:54:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 378 episode 1/2 collected=1/3 +[05/24 16:54:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 378 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:54:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_378: 2 episodes +[05/24 16:54:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:54:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:54:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_378 +[05/24 16:54:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_378 in 3.31s (batch: 3.25s, save: 0.05s) +[05/24 16:54:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_378 +[05/24 16:54:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 378: 2/2 successful episodes +[05/24 16:54:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 381 (index 32/83) +[05/24 16:54:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 381 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:54:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_381_ceiling.xml +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=381, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 16:54:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:54:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 381 episode 0/1 collected=0/3 +[05/24 16:54:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 381 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 16:56:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_381: 1 episodes +[05/24 16:56:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_381 +[05/24 16:56:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_381 in 1.92s (batch: 1.84s, save: 0.09s) +[05/24 16:56:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_381 +[05/24 16:56:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 381: 0/1 successful episodes +[05/24 16:56:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 398 (index 33/83) +[05/24 16:56:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 398 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:56:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:56:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 398 episode 0/2 collected=0/3 +[05/24 16:56:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 398 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=True +[05/24 16:56:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_398_ceiling.xml +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=398, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 16:56:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:56:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 398 episode 1/2 collected=1/3 +[05/24 16:56:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 398 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 16:57:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_398: 2 episodes +[05/24 16:57:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:57:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_398 +[05/24 16:57:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_398 in 4.63s (batch: 4.52s, save: 0.11s) +[05/24 16:57:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_398 +[05/24 16:57:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 398: 1/2 successful episodes +[05/24 16:57:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 407 (index 34/83) +[05/24 16:57:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 407 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:57:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_407_ceiling.xml +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=407, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 111 objects +[05/24 16:57:46 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box' +[05/24 16:57:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 407 episode 0/1 collected=0/3 +[05/24 16:57:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 407 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_4 completed with success=False +[05/24 16:59:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_407: 1 episodes +[05/24 16:59:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:59:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_407 +[05/24 16:59:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_407 in 1.98s (batch: 1.89s, save: 0.09s) +[05/24 16:59:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_407 +[05/24 16:59:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 407: 0/1 successful episodes +[05/24 16:59:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 428 (index 35/83) +[05/24 16:59:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 428 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 16:59:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:59:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:59:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 428 episode 0/2 collected=0/3 +[05/24 16:59:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 428 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 16:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_428_ceiling.xml +[05/24 17:00:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=428, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:00:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:00:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 428 episode 1/2 collected=1/3 +[05/24 17:00:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 428 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_6 completed with success=False +[05/24 17:01:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_428: 2 episodes +[05/24 17:01:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 17:01:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_428 +[05/24 17:01:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_428 in 3.66s (batch: 3.55s, save: 0.12s) +[05/24 17:01:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_428 +[05/24 17:01:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 428: 1/2 successful episodes +[05/24 17:01:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 429 (index 36/83) +[05/24 17:01:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 429 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:01:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_429_ceiling.xml +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=429, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:01:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:01:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 429 episode 0/1 collected=0/3 +[05/24 17:01:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 429 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=True +[05/24 17:01:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_429: 1 episodes +[05/24 17:01:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:01:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_429 +[05/24 17:01:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_429 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:01:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_429 +[05/24 17:01:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 429: 1/1 successful episodes +[05/24 17:01:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 450 (index 37/83) +[05/24 17:01:39 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 450 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:01:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 17:01:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:01:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 450 episode 0/2 collected=0/3 +[05/24 17:01:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 450 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_7 completed with success=False +[05/24 17:03:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_450_ceiling.xml +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=450, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 17:03:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:03:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 450 episode 1/2 collected=1/3 +[05/24 17:03:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 450 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_8 completed with success=True +[05/24 17:03:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_450: 2 episodes +[05/24 17:03:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:03:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_450 +[05/24 17:03:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_450 in 3.47s (batch: 3.36s, save: 0.11s) +[05/24 17:03:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_450 +[05/24 17:03:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 450: 1/2 successful episodes +[05/24 17:03:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 452 (index 38/83) +[05/24 17:03:52 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 452 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:03:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_452_ceiling.xml +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=452, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:03:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the stainless steel kitchen ladle' +[05/24 17:03:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 452 episode 0/1 collected=0/3 +[05/24 17:03:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 452 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_452: 1 episodes +[05/24 17:04:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:04:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_452 +[05/24 17:04:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_452 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 17:04:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_452 +[05/24 17:04:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 452: 1/1 successful episodes +[05/24 17:04:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 474 (index 39/83) +[05/24 17:04:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 474 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:04:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:04:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutting implement' +[05/24 17:04:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 474 episode 0/2 collected=0/3 +[05/24 17:04:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 474 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 17:05:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_474_ceiling.xml +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=474, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:05:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:05:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 474 episode 1/2 collected=1/3 +[05/24 17:05:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 474 episode 1 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 17:06:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_474: 2 episodes +[05/24 17:06:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 353 timesteps +[05/24 17:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_474 +[05/24 17:06:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_474 in 4.90s (batch: 4.72s, save: 0.17s) +[05/24 17:06:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_474 +[05/24 17:06:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 474: 1/2 successful episodes +[05/24 17:06:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 482 (index 40/83) +[05/24 17:06:54 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 482 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:06:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_482_ceiling.xml +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=482, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 17:06:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 482 episode 0/1 collected=0/3 +[05/24 17:06:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 482 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_3_0_8 completed with success=True +[05/24 17:07:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_482: 1 episodes +[05/24 17:07:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/24 17:07:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_482 +[05/24 17:07:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_482 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 17:07:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_482 +[05/24 17:07:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 482: 1/1 successful episodes +[05/24 17:07:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 497 (index 41/83) +[05/24 17:07:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 497 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:07:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_497_ceiling.xml +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=497, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:07:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:07:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 497 episode 0/1 collected=0/3 +[05/24 17:07:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 497 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True +[05/24 17:07:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_497: 1 episodes +[05/24 17:07:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:07:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_497 +[05/24 17:07:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_497 in 2.28s (batch: 2.25s, save: 0.03s) +[05/24 17:07:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_497 +[05/24 17:07:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 497: 1/1 successful episodes +[05/24 17:07:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 514 (index 42/83) +[05/24 17:07:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 514 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:07:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_514_ceiling.xml +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=514, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:07:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:07:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 514 episode 0/1 collected=0/3 +[05/24 17:07:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 514 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 17:09:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_514: 1 episodes +[05/24 17:09:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:09:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_514 +[05/24 17:09:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_514 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:09:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_514 +[05/24 17:09:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 514: 0/1 successful episodes +[05/24 17:09:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 515 (index 43/83) +[05/24 17:09:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 515 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:09:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:09:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:09:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 515 episode 0/2 collected=0/3 +[05/24 17:09:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 515 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_8 completed with success=False +[05/24 17:10:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_515_ceiling.xml +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=515, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:10:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the beige mug' +[05/24 17:10:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 515 episode 1/2 collected=1/3 +[05/24 17:10:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 515 episode 1 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True +[05/24 17:10:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_515: 2 episodes +[05/24 17:10:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_515 +[05/24 17:10:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_515 in 4.67s (batch: 4.55s, save: 0.12s) +[05/24 17:10:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_515 +[05/24 17:10:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 515: 1/2 successful episodes +[05/24 17:10:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 531 (index 44/83) +[05/24 17:10:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 531 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:10:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_531_ceiling.xml +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=531, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple' +[05/24 17:10:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 531 episode 0/1 collected=0/3 +[05/24 17:10:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 531 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=True +[05/24 17:11:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_531: 1 episodes +[05/24 17:11:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 17:11:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_531 +[05/24 17:11:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_531 in 1.64s (batch: 1.58s, save: 0.06s) +[05/24 17:11:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_531 +[05/24 17:11:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 531: 1/1 successful episodes +[05/24 17:11:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 542 (index 45/83) +[05/24 17:11:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 542 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:11:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:11:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 17:11:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 542 episode 0/2 collected=0/3 +[05/24 17:11:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 542 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:11:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_542_ceiling.xml +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=542, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:11:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 17:11:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 542 episode 1/2 collected=1/3 +[05/24 17:11:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 542 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 17:11:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_542: 2 episodes +[05/24 17:11:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/24 17:11:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:11:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_542 +[05/24 17:11:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_542 in 4.45s (batch: 4.38s, save: 0.06s) +[05/24 17:11:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_542 +[05/24 17:11:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 542: 2/2 successful episodes +[05/24 17:11:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 555 (index 46/83) +[05/24 17:11:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 555 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:11:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:11:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:11:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 555 episode 0/2 collected=0/3 +[05/24 17:11:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 555 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:13:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_555_ceiling.xml +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=555, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:13:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:13:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 555 episode 1/2 collected=1/3 +[05/24 17:13:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 555 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:13:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_555: 2 episodes +[05/24 17:13:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 143 timesteps +[05/24 17:13:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_555 +[05/24 17:13:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_555 in 3.61s (batch: 3.49s, save: 0.12s) +[05/24 17:13:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_555 +[05/24 17:13:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 555: 1/2 successful episodes +[05/24 17:13:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 560 (index 47/83) +[05/24 17:13:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 560 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:13:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_560_ceiling.xml +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=560, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:13:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:13:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 560 episode 0/1 collected=0/3 +[05/24 17:13:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 560 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:13:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_560: 1 episodes +[05/24 17:13:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:14:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_560 +[05/24 17:14:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_560 in 2.22s (batch: 2.19s, save: 0.03s) +[05/24 17:14:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_560 +[05/24 17:14:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 560: 1/1 successful episodes +[05/24 17:14:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 577 (index 48/83) +[05/24 17:14:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 577 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:14:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:14:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 577 episode 0/2 collected=0/3 +[05/24 17:14:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 577 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:14:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_577_ceiling.xml +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=577, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 17:14:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 577 episode 1/2 collected=1/3 +[05/24 17:14:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 577 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:14:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_577: 2 episodes +[05/24 17:14:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 17:14:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:14:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:34 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_577 +[05/24 17:14:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_577 in 3.27s (batch: 3.21s, save: 0.05s) +[05/24 17:14:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_577 +[05/24 17:14:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 577: 2/2 successful episodes +[05/24 17:14:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 581 (index 49/83) +[05/24 17:14:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 581 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:14:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_581_ceiling.xml +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=581, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:14:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 17:14:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 581 episode 0/1 collected=0/3 +[05/24 17:14:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 581 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False +[05/24 17:16:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_581: 1 episodes +[05/24 17:16:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_581 +[05/24 17:16:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_581 in 2.45s (batch: 2.34s, save: 0.11s) +[05/24 17:16:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_581 +[05/24 17:16:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 581: 0/1 successful episodes +[05/24 17:16:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 602 (index 50/83) +[05/24 17:16:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 602 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:16:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_602_ceiling.xml +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=602, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 17:16:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:16:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 602 episode 0/1 collected=0/3 +[05/24 17:16:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 602 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:16:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_602: 1 episodes +[05/24 17:16:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:16:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_602 +[05/24 17:16:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_602 in 1.68s (batch: 1.65s, save: 0.03s) +[05/24 17:16:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_602 +[05/24 17:16:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 602: 1/1 successful episodes +[05/24 17:16:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 610 (index 51/83) +[05/24 17:16:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 610 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:16:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:16:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:16:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 610 episode 0/2 collected=0/3 +[05/24 17:16:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 17:17:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_610_ceiling.xml +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=610, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:17:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:17:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 610 episode 1/2 collected=1/3 +[05/24 17:17:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 610 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:19:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_610: 2 episodes +[05/24 17:19:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_610 +[05/24 17:19:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_610 in 3.82s (batch: 3.64s, save: 0.18s) +[05/24 17:19:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_610 +[05/24 17:19:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 610: 0/2 successful episodes +[05/24 17:19:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 622 (index 52/83) +[05/24 17:19:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 622 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:19:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_622_ceiling.xml +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=622, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects +[05/24 17:19:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:19:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 622 episode 0/1 collected=0/3 +[05/24 17:19:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 622 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=True +[05/24 17:19:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_622: 1 episodes +[05/24 17:19:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:19:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_622 +[05/24 17:19:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_622 in 1.67s (batch: 1.64s, save: 0.03s) +[05/24 17:19:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_622 +[05/24 17:19:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 622: 1/1 successful episodes +[05/24 17:19:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 630 (index 53/83) +[05/24 17:19:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 630 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:19:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:19:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:19:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 630 episode 0/2 collected=0/3 +[05/24 17:19:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 630 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:19:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_630_ceiling.xml +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=630, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:19:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:19:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 630 episode 1/2 collected=1/3 +[05/24 17:19:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 630 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 17:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_630: 2 episodes +[05/24 17:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 99 timesteps +[05/24 17:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_630 +[05/24 17:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_630 in 3.66s (batch: 3.52s, save: 0.13s) +[05/24 17:21:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_630 +[05/24 17:21:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 630: 1/2 successful episodes +[05/24 17:21:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 644 (index 54/83) +[05/24 17:21:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 644 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:21:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:21:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:21:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 644 episode 0/2 collected=0/3 +[05/24 17:21:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 644 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_644_ceiling.xml +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=644, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:23:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:23:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 644 episode 1/2 collected=1/3 +[05/24 17:23:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 644 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 17:24:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_644: 2 episodes +[05/24 17:24:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:24:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:24:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_644 +[05/24 17:24:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_644 in 4.76s (batch: 4.60s, save: 0.16s) +[05/24 17:24:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_644 +[05/24 17:24:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 644: 0/2 successful episodes +[05/24 17:24:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 654 (index 55/83) +[05/24 17:24:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 654 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:24:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_654_ceiling.xml +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=654, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:24:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:24:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 654 episode 0/1 collected=0/3 +[05/24 17:24:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 654 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:26:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_654: 1 episodes +[05/24 17:26:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_654 +[05/24 17:26:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_654 in 2.45s (batch: 2.36s, save: 0.09s) +[05/24 17:26:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_654 +[05/24 17:26:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 654: 0/1 successful episodes +[05/24 17:26:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 668 (index 56/83) +[05/24 17:26:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 668 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:26:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_668_ceiling.xml +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=668, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 17:26:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 668 episode 0/1 collected=0/3 +[05/24 17:26:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 668 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=True +[05/24 17:26:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_668: 1 episodes +[05/24 17:26:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:26:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_668 +[05/24 17:26:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_668 in 2.23s (batch: 2.19s, save: 0.03s) +[05/24 17:26:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_668 +[05/24 17:26:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 668: 1/1 successful episodes +[05/24 17:26:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 676 (index 57/83) +[05/24 17:26:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 676 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects +[05/24 17:26:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:26:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 676 episode 0/2 collected=0/3 +[05/24 17:26:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 676 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:28:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_676_ceiling.xml +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=676, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 88 objects +[05/24 17:28:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:28:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 676 episode 1/2 collected=1/3 +[05/24 17:28:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 676 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 17:29:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_676: 2 episodes +[05/24 17:29:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_676 +[05/24 17:29:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_676 in 5.00s (batch: 4.82s, save: 0.17s) +[05/24 17:29:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_676 +[05/24 17:29:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 676: 0/2 successful episodes +[05/24 17:29:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 692 (index 58/83) +[05/24 17:29:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 692 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:29:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_692_ceiling.xml +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=692, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 17:29:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:29:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 692 episode 0/1 collected=0/3 +[05/24 17:29:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 692 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:30:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_692: 1 episodes +[05/24 17:30:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:30:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_692 +[05/24 17:30:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_692 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 17:30:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_692 +[05/24 17:30:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 692: 1/1 successful episodes +[05/24 17:30:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 711 (index 59/83) +[05/24 17:30:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 711 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:30:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_711_ceiling.xml +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=711, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:30:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal box' +[05/24 17:30:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 711 episode 0/1 collected=0/3 +[05/24 17:30:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 711 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=False +[05/24 17:31:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_711: 1 episodes +[05/24 17:31:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_711 +[05/24 17:31:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_711 in 1.89s (batch: 1.79s, save: 0.09s) +[05/24 17:32:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_711 +[05/24 17:32:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 711: 0/1 successful episodes +[05/24 17:32:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 726 (index 60/83) +[05/24 17:32:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 726 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:32:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_726_ceiling.xml +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=726, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:32:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:32:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 726 episode 0/1 collected=0/3 +[05/24 17:32:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 726 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=False +[05/24 17:33:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_726: 1 episodes +[05/24 17:33:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_726 +[05/24 17:33:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_726 in 2.48s (batch: 2.38s, save: 0.09s) +[05/24 17:33:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_726 +[05/24 17:33:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 726: 0/1 successful episodes +[05/24 17:33:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 727 (index 61/83) +[05/24 17:33:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 727 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:33:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:33:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:33:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 727 episode 0/2 collected=0/3 +[05/24 17:33:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 727 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:33:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_727_ceiling.xml +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=727, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:33:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker' +[05/24 17:33:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 727 episode 1/2 collected=1/3 +[05/24 17:33:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 727 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 17:34:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_727: 2 episodes +[05/24 17:34:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:34:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:34:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_727 +[05/24 17:34:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_727 in 4.71s (batch: 4.61s, save: 0.11s) +[05/24 17:34:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_727 +[05/24 17:34:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 727: 1/2 successful episodes +[05/24 17:34:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 746 (index 62/83) +[05/24 17:34:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 746 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:34:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:34:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:34:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 746 episode 0/2 collected=0/3 +[05/24 17:34:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 746 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:35:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_746_ceiling.xml +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=746, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:35:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:35:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 746 episode 1/2 collected=1/3 +[05/24 17:35:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 746 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:35:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_746: 2 episodes +[05/24 17:35:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:35:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 153 timesteps +[05/24 17:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_746 +[05/24 17:35:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_746 in 4.32s (batch: 4.25s, save: 0.07s) +[05/24 17:35:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_746 +[05/24 17:35:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 746: 2/2 successful episodes +[05/24 17:35:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 752 (index 63/83) +[05/24 17:35:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 752 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:35:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_752_ceiling.xml +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=752, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:35:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 17:35:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 752 episode 0/1 collected=0/3 +[05/24 17:35:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 752 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=True +[05/24 17:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_752: 1 episodes +[05/24 17:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 25 timesteps +[05/24 17:35:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_752 +[05/24 17:35:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_752 in 1.64s (batch: 1.62s, save: 0.02s) +[05/24 17:35:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_752 +[05/24 17:35:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 752: 1/1 successful episodes +[05/24 17:35:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 771 (index 64/83) +[05/24 17:35:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 771 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:35:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_771_ceiling.xml +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=771, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:35:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:35:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 771 episode 0/1 collected=0/3 +[05/24 17:35:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 771 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=False +[05/24 17:37:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_771: 1 episodes +[05/24 17:37:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_771 +[05/24 17:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_771 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 17:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_771 +[05/24 17:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 771: 0/1 successful episodes +[05/24 17:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 774 (index 65/83) +[05/24 17:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 774 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:37:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:37:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 774 episode 0/2 collected=0/3 +[05/24 17:37:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:38:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_774_ceiling.xml +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=774, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:38:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass shaker' +[05/24 17:38:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 774 episode 1/2 collected=1/3 +[05/24 17:38:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 774 episode 1 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=False +[05/24 17:40:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_774: 2 episodes +[05/24 17:40:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_774 +[05/24 17:40:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_774 in 3.80s (batch: 3.63s, save: 0.16s) +[05/24 17:40:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_774 +[05/24 17:40:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 774: 0/2 successful episodes +[05/24 17:40:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 795 (index 66/83) +[05/24 17:40:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 795 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:40:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_795_ceiling.xml +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=795, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:40:11 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown box' +[05/24 17:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 795 episode 0/1 collected=0/3 +[05/24 17:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 795 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_3 completed with success=False +[05/24 17:41:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_795: 1 episodes +[05/24 17:41:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_795 +[05/24 17:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_795 in 2.30s (batch: 2.21s, save: 0.09s) +[05/24 17:41:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_795 +[05/24 17:41:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 795: 0/1 successful episodes +[05/24 17:41:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 809 (index 67/83) +[05/24 17:41:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 809 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:41:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:41:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 809 episode 0/2 collected=0/3 +[05/24 17:41:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 809 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 17:42:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_809_ceiling.xml +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=809, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:42:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:42:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 809 episode 1/2 collected=1/3 +[05/24 17:42:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 809 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False +[05/24 17:44:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_809: 2 episodes +[05/24 17:44:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 170 timesteps +[05/24 17:44:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_809 +[05/24 17:44:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_809 in 4.80s (batch: 4.66s, save: 0.14s) +[05/24 17:44:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_809 +[05/24 17:44:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 809: 1/2 successful episodes +[05/24 17:44:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 828 (index 68/83) +[05/24 17:44:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 828 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_828_ceiling.xml +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=828, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:44:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:44:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 828 episode 0/1 collected=0/3 +[05/24 17:44:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 828 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:44:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_828: 1 episodes +[05/24 17:44:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:44:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_828 +[05/24 17:44:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_828 in 2.21s (batch: 2.16s, save: 0.05s) +[05/24 17:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_828 +[05/24 17:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 828: 1/1 successful episodes +[05/24 17:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 834 (index 69/83) +[05/24 17:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 834 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:44:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:44:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 834 episode 0/2 collected=0/3 +[05/24 17:44:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 834 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 17:44:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_834_ceiling.xml +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=834, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:44:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:44:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 834 episode 1/2 collected=1/3 +[05/24 17:44:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 834 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:45:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_834: 2 episodes +[05/24 17:45:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:45:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_834 +[05/24 17:45:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_834 in 4.80s (batch: 4.69s, save: 0.11s) +[05/24 17:45:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_834 +[05/24 17:45:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 834: 1/2 successful episodes +[05/24 17:45:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 848 (index 70/83) +[05/24 17:45:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 848 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:45:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects +[05/24 17:46:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:46:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 848 episode 0/2 collected=0/3 +[05/24 17:46:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 848 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 17:46:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_848_ceiling.xml +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=848, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 93 objects +[05/24 17:46:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:46:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 848 episode 1/2 collected=1/3 +[05/24 17:46:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 848 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_4 completed with success=False +[05/24 17:48:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_848: 2 episodes +[05/24 17:48:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 176 timesteps +[05/24 17:48:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_848 +[05/24 17:48:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_848 in 3.61s (batch: 3.48s, save: 0.13s) +[05/24 17:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_848 +[05/24 17:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 848: 1/2 successful episodes +[05/24 17:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 863 (index 71/83) +[05/24 17:48:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 863 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_863_ceiling.xml +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=863, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 17:48:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:48:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 863 episode 0/1 collected=0/3 +[05/24 17:48:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 863 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 17:49:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_863: 1 episodes +[05/24 17:49:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/24 17:49:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_863 +[05/24 17:49:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_863 in 2.26s (batch: 2.23s, save: 0.03s) +[05/24 17:49:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_863 +[05/24 17:49:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 863: 1/1 successful episodes +[05/24 17:49:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 874 (index 72/83) +[05/24 17:49:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 874 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:49:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:49:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:49:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 874 episode 0/2 collected=0/3 +[05/24 17:49:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 874 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 17:50:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_874_ceiling.xml +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=874, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:50:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:50:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 874 episode 1/2 collected=1/3 +[05/24 17:50:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 874 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_3 completed with success=False +[05/24 17:51:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_874: 2 episodes +[05/24 17:51:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_874 +[05/24 17:51:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_874 in 3.95s (batch: 3.77s, save: 0.19s) +[05/24 17:51:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_874 +[05/24 17:51:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 874: 0/2 successful episodes +[05/24 17:51:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 889 (index 73/83) +[05/24 17:51:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 889 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:51:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:51:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:51:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 889 episode 0/2 collected=0/3 +[05/24 17:51:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 889 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_7 completed with success=False +[05/24 17:53:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_889_ceiling.xml +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=889, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:53:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:53:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 889 episode 1/2 collected=1/3 +[05/24 17:53:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 889 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:54:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_889: 2 episodes +[05/24 17:54:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_889 +[05/24 17:54:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_889 in 4.96s (batch: 4.79s, save: 0.17s) +[05/24 17:54:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_889 +[05/24 17:54:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 889: 0/2 successful episodes +[05/24 17:54:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 901 (index 74/83) +[05/24 17:54:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 901 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:54:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_901_ceiling.xml +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=901, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:55:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:55:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 901 episode 0/1 collected=0/3 +[05/24 17:55:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 901 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_8 completed with success=True +[05/24 17:56:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_901: 1 episodes +[05/24 17:56:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 378 timesteps +[05/24 17:56:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_901 +[05/24 17:56:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_901 in 2.48s (batch: 2.38s, save: 0.10s) +[05/24 17:56:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_901 +[05/24 17:56:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 901: 1/1 successful episodes +[05/24 17:56:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 902 (index 75/83) +[05/24 17:56:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 902 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:56:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:56:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 902 episode 0/2 collected=0/3 +[05/24 17:56:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_2 completed with success=True +[05/24 17:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_902_ceiling.xml +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=902, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle' +[05/24 17:56:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 902 episode 1/2 collected=1/3 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 902 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True +[05/24 17:57:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_902: 2 episodes +[05/24 17:57:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:57:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 145 timesteps +[05/24 17:57:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_902 +[05/24 17:57:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_902 in 3.35s (batch: 3.28s, save: 0.07s) +[05/24 17:57:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_902 +[05/24 17:57:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 902: 2/2 successful episodes +[05/24 17:57:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 925 (index 76/83) +[05/24 17:57:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 925 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:57:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_925_ceiling.xml +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=925, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:57:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:57:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 925 episode 0/1 collected=0/3 +[05/24 17:57:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 925 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 17:57:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_925: 1 episodes +[05/24 17:57:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:57:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_925 +[05/24 17:57:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_925 in 2.16s (batch: 2.13s, save: 0.03s) +[05/24 17:57:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_925 +[05/24 17:57:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 925: 1/1 successful episodes +[05/24 17:57:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 926 (index 77/83) +[05/24 17:57:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 926 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:57:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:57:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:57:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 926 episode 0/2 collected=0/3 +[05/24 17:57:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 926 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True +[05/24 17:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_926_ceiling.xml +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=926, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:57:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 17:57:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 926 episode 1/2 collected=1/3 +[05/24 17:57:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 926 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True +[05/24 17:58:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_926: 2 episodes +[05/24 17:58:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:58:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:58:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_926 +[05/24 17:58:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_926 in 3.32s (batch: 3.27s, save: 0.06s) +[05/24 17:58:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_926 +[05/24 17:58:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 926: 2/2 successful episodes +[05/24 17:58:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 945 (index 78/83) +[05/24 17:58:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 945 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:58:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_945_ceiling.xml +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=945, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:58:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:58:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 945 episode 0/1 collected=0/3 +[05/24 17:58:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 945 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_8 completed with success=True +[05/24 17:58:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_945: 1 episodes +[05/24 17:58:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:58:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_945 +[05/24 17:58:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_945 in 2.19s (batch: 2.15s, save: 0.05s) +[05/24 17:58:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_945 +[05/24 17:58:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 945: 1/1 successful episodes +[05/24 17:58:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 952 (index 79/83) +[05/24 17:58:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 952 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 17:58:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:58:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:58:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 952 episode 0/2 collected=0/3 +[05/24 17:58:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 952 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:58:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_952_ceiling.xml +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=952, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:58:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:58:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 952 episode 1/2 collected=1/3 +[05/24 17:58:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 952 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 18:00:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_952: 2 episodes +[05/24 18:00:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 18:00:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_952 +[05/24 18:00:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_952 in 3.59s (batch: 3.48s, save: 0.11s) +[05/24 18:00:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_952 +[05/24 18:00:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 952: 1/2 successful episodes +[05/24 18:00:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 966 (index 80/83) +[05/24 18:00:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 966 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:00:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 18:00:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 18:00:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 966 episode 0/2 collected=0/3 +[05/24 18:00:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 966 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True +[05/24 18:00:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_966_ceiling.xml +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=966, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 18:00:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 18:00:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 966 episode 1/2 collected=1/3 +[05/24 18:00:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 966 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 18:01:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_966: 2 episodes +[05/24 18:01:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 18:01:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 249 timesteps +[05/24 18:01:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_966 +[05/24 18:01:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_966 in 4.49s (batch: 4.41s, save: 0.08s) +[05/24 18:01:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_966 +[05/24 18:01:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 966: 2/2 successful episodes +[05/24 18:01:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 971 (index 81/83) +[05/24 18:01:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 971 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:01:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_971_ceiling.xml +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=971, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 18:01:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 18:01:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 971 episode 0/1 collected=0/3 +[05/24 18:01:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 971 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 18:02:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_971: 1 episodes +[05/24 18:02:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:02:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_971 +[05/24 18:02:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_971 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 18:02:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_971 +[05/24 18:02:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 971: 0/1 successful episodes +[05/24 18:02:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 985 (index 82/83) +[05/24 18:02:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 985 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_01 +[05/24 18:02:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:02:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 18:02:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 985 episode 0/2 collected=0/3 +[05/24 18:02:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 985 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 18:04:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:04:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_985_ceiling.xml +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=985, scene_dataset=procthor-10k, data_split=val +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:04:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:04:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:04:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:04:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:04:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 18:04:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 985 episode 1/2 collected=1/3 +[05/24 18:04:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 985 episode 1 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=True +[05/24 18:04:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_985: 2 episodes +[05/24 18:04:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:04:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 18:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_985 +[05/24 18:04:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_985 in 3.42s (batch: 3.32s, save: 0.11s) +[05/24 18:04:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_985 +[05/24 18:04:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 985: 1/2 successful episodes +[05/24 18:04:21 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:04:21 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:04:21 INFO pipeline.py:1499] Success count: 61, Total count: 125 +[05/24 18:04:21 INFO pipeline.py:1500] Success rate: 48.80% +Combined 125 episodes from 83 files → /tmp/tmp3ymhbsvr.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv at-end: 48.8% | oracle: 48.8% of 125 episodes +[2026-05-24 18:04:31,306] INFO MolmoSpaces simulator eval finished: success=61/125 rate=0.4880 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval +[2026-05-24 18:04:31,306] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_01/run_command.sh diff --git a/pick_msproc/pick_msproc/submission/shard_02.launcher.log b/pick_msproc/pick_msproc/submission/shard_02.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..8c67aa85bdf5e359cb42a4d56524ebf8bcd7620f --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_02.launcher.log @@ -0,0 +1,2982 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,464] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,522] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,552] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 (source=arg) +[2026-05-24 15:59:56,748] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,288] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,160] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,160] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,574] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,646] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,684] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [2, + 25, + 37, + 46, + 50, + 74, + 77, + 92, + 106, + 114, + 116, + 135, + 146, + 162, + 170, + 185, + 202, + 212, + 224, + 233, + 247, + 257, + 269, + 290, + 296, + 313, + 320, + 335, + 337, + 355, + 365, + 379, + 387, + 402, + 408, + 430, + 432, + 457, + 460, + 476, + 483, + 498, + 516, + 518, + 535, + 545, + 556, + 561, + 578, + 582, + 606, + 611, + 623, + 633, + 650, + 655, + 671, + 679, + 695, + 715, + 728, + 730, + 747, + 755, + 775, + 777, + 796, + 816, + 829, + 835, + 851, + 864, + 877, + 892, + 903, + 905, + 927, + 928, + 946, + 957, + 967, + 974, + 988], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,689] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 2 (index 0/83) +[05/24 16:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 2 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:51,353:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:51,353] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_2_ceiling.xml +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=2, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 92 objects +[05/24 16:04:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 16:04:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 2 episode 0/2 collected=0/2 +[05/24 16:04:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:53.492 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:13,178] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:13,622] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:16,611] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:20,377] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:20,380] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 2 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_9 completed with success=False +[05/24 16:08:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_2_ceiling.xml +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=2, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 92 objects +[05/24 16:08:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray wooden bowl' +[05/24 16:08:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 2 episode 1/2 collected=1/2 +[05/24 16:08:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 2 episode 1 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_5 completed with success=True +[05/24 16:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_2: 2 episodes +[05/24 16:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 284 timesteps +[05/24 16:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_2 +[05/24 16:09:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_2 in 4.60s (batch: 4.46s, save: 0.14s) +[05/24 16:09:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_2 +[05/24 16:09:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 2: 1/2 successful episodes +[05/24 16:09:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 25 (index 1/83) +[05/24 16:09:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 25 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_25_ceiling.xml +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=25, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:09:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 25 episode 0/2 collected=0/2 +[05/24 16:09:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 25 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:09:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_25_ceiling.xml +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=25, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:09:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 25 episode 1/2 collected=1/2 +[05/24 16:09:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 25 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 16:09:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_25: 2 episodes +[05/24 16:09:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:09:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 105 timesteps +[05/24 16:10:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_25 +[05/24 16:10:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_25 in 4.33s (batch: 4.27s, save: 0.06s) +[05/24 16:10:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_25 +[05/24 16:10:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 25: 2/2 successful episodes +[05/24 16:10:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 37 (index 2/83) +[05/24 16:10:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 37 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:10:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_37_ceiling.xml +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=37, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 16:10:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 16:10:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 37 episode 0/1 collected=0/2 +[05/24 16:10:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 37 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_8 completed with success=True +[05/24 16:10:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_37: 1 episodes +[05/24 16:10:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:10:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_37 +[05/24 16:10:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_37 in 2.14s (batch: 2.11s, save: 0.03s) +[05/24 16:10:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_37 +[05/24 16:10:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 37: 1/1 successful episodes +[05/24 16:10:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 46 (index 3/83) +[05/24 16:10:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 46 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:10:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_46_ceiling.xml +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=46, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:10:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:10:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 46 episode 0/2 collected=0/2 +[05/24 16:10:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 46 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:10:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_46_ceiling.xml +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=46, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:10:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:10:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 46 episode 1/2 collected=1/2 +[05/24 16:10:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 46 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_2_0_6 completed with success=False +[05/24 16:12:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_46: 2 episodes +[05/24 16:12:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 58 timesteps +[05/24 16:12:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_46 +[05/24 16:12:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_46 in 4.60s (batch: 4.48s, save: 0.12s) +[05/24 16:12:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_46 +[05/24 16:12:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 46: 1/2 successful episodes +[05/24 16:12:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 50 (index 4/83) +[05/24 16:12:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 50 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:12:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_50_ceiling.xml +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=50, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 81 objects +[05/24 16:12:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:12:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 50 episode 0/1 collected=0/2 +[05/24 16:12:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 50 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:13:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_50: 1 episodes +[05/24 16:13:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_50 +[05/24 16:13:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_50 in 2.15s (batch: 2.07s, save: 0.09s) +[05/24 16:13:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_50 +[05/24 16:13:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 50: 0/1 successful episodes +[05/24 16:13:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 74 (index 5/83) +[05/24 16:13:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 74 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:13:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_74_ceiling.xml +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=74, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:13:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 16:13:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 74 episode 0/1 collected=0/2 +[05/24 16:13:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:14:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 74 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:14:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_74: 1 episodes +[05/24 16:14:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:14:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:14:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_74 +[05/24 16:14:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_74 in 2.14s (batch: 2.05s, save: 0.09s) +[05/24 16:14:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_74 +[05/24 16:14:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 74: 0/1 successful episodes +[05/24 16:14:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 77 (index 6/83) +[05/24 16:14:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 77 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:14:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_77_ceiling.xml +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=77, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:15:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 16:15:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 77 episode 0/2 collected=0/2 +[05/24 16:15:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 77 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:15:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_77_ceiling.xml +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=77, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:15:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:15:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 77 episode 1/2 collected=1/2 +[05/24 16:15:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 77 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 16:15:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_77: 2 episodes +[05/24 16:15:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:15:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:15:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_77 +[05/24 16:15:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_77 in 3.84s (batch: 3.78s, save: 0.05s) +[05/24 16:15:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_77 +[05/24 16:15:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 77: 2/2 successful episodes +[05/24 16:15:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 92 (index 7/83) +[05/24 16:15:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 92 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_92_ceiling.xml +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=92, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:15:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:15:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 92 episode 0/2 collected=0/2 +[05/24 16:15:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 92 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:16:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_92_ceiling.xml +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=92, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:16:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:16:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 92 episode 1/2 collected=1/2 +[05/24 16:16:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 92 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 16:17:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_92: 2 episodes +[05/24 16:17:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 143 timesteps +[05/24 16:17:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_92 +[05/24 16:17:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_92 in 4.21s (batch: 4.09s, save: 0.12s) +[05/24 16:17:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_92 +[05/24 16:17:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 92: 1/2 successful episodes +[05/24 16:17:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 106 (index 8/83) +[05/24 16:17:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 106 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:17:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_106_ceiling.xml +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=106, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:17:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black matte cooking pot with handles' +[05/24 16:17:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 106 episode 0/2 collected=0/2 +[05/24 16:17:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 106 episode 0 object pot_327edb884d62930ab5c6e8fce062daba_1_0_2 completed with success=False +[05/24 16:18:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_106_ceiling.xml +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=106, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:18:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:18:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 106 episode 1/2 collected=1/2 +[05/24 16:18:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 106 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 16:19:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_106: 2 episodes +[05/24 16:19:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:19:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:19:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_106 +[05/24 16:19:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_106 in 4.83s (batch: 4.66s, save: 0.17s) +[05/24 16:19:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_106 +[05/24 16:19:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 106: 0/2 successful episodes +[05/24 16:19:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 114 (index 9/83) +[05/24 16:19:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 114 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:19:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_114_ceiling.xml +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=114, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:20:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:20:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 114 episode 0/1 collected=0/2 +[05/24 16:20:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 114 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 16:20:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_114: 1 episodes +[05/24 16:20:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 134 timesteps +[05/24 16:20:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_114 +[05/24 16:20:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_114 in 2.17s (batch: 2.13s, save: 0.04s) +[05/24 16:20:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_114 +[05/24 16:20:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 114: 1/1 successful episodes +[05/24 16:20:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 116 (index 10/83) +[05/24 16:20:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 116 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:20:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_116_ceiling.xml +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=116, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:20:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:20:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 116 episode 0/2 collected=0/2 +[05/24 16:20:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 116 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=False +[05/24 16:22:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_116_ceiling.xml +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=116, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:22:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent plastic cup' +[05/24 16:22:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 116 episode 1/2 collected=1/2 +[05/24 16:22:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 116 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 16:23:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_116: 2 episodes +[05/24 16:23:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_116 +[05/24 16:23:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_116 in 4.32s (batch: 4.15s, save: 0.17s) +[05/24 16:23:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_116 +[05/24 16:23:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 116: 0/2 successful episodes +[05/24 16:23:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 135 (index 11/83) +[05/24 16:23:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 135 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:23:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_135_ceiling.xml +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=135, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:23:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:23:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 135 episode 0/2 collected=0/2 +[05/24 16:23:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 135 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=False +[05/24 16:24:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_135_ceiling.xml +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=135, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:25:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:25:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 135 episode 1/2 collected=1/2 +[05/24 16:25:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 135 episode 1 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:26:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_135: 2 episodes +[05/24 16:26:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_135 +[05/24 16:26:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_135 in 4.82s (batch: 4.65s, save: 0.17s) +[05/24 16:26:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_135 +[05/24 16:26:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 135: 0/2 successful episodes +[05/24 16:26:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 146 (index 12/83) +[05/24 16:26:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 146 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:26:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_146_ceiling.xml +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=146, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:26:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the vessel' +[05/24 16:26:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 146 episode 0/1 collected=0/2 +[05/24 16:26:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 146 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 16:27:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_146: 1 episodes +[05/24 16:27:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 218 timesteps +[05/24 16:27:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_146 +[05/24 16:27:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_146 in 2.34s (batch: 2.28s, save: 0.06s) +[05/24 16:27:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_146 +[05/24 16:27:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 146: 1/1 successful episodes +[05/24 16:27:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 162 (index 13/83) +[05/24 16:27:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 162 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:27:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_162_ceiling.xml +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=162, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:27:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth medium red apple' +[05/24 16:27:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 162 episode 0/1 collected=0/2 +[05/24 16:27:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 162 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_6 completed with success=True +[05/24 16:27:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_162: 1 episodes +[05/24 16:27:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:27:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_162 +[05/24 16:27:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_162 in 1.98s (batch: 1.95s, save: 0.03s) +[05/24 16:27:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_162 +[05/24 16:27:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 162: 1/1 successful episodes +[05/24 16:27:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 170 (index 14/83) +[05/24 16:27:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 170 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:27:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_170_ceiling.xml +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=170, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:27:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:27:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 170 episode 0/2 collected=0/2 +[05/24 16:27:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 170 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:28:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_170_ceiling.xml +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=170, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:28:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:28:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 170 episode 1/2 collected=1/2 +[05/24 16:28:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 170 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 16:30:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_170: 2 episodes +[05/24 16:30:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_170 +[05/24 16:30:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_170 in 4.58s (batch: 4.41s, save: 0.17s) +[05/24 16:30:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_170 +[05/24 16:30:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 170: 0/2 successful episodes +[05/24 16:30:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 185 (index 15/83) +[05/24 16:30:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 185 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:30:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_185_ceiling.xml +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=185, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:30:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:30:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 185 episode 0/1 collected=0/2 +[05/24 16:30:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 185 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=True +[05/24 16:30:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_185: 1 episodes +[05/24 16:30:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 16:30:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_185 +[05/24 16:30:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_185 in 1.94s (batch: 1.91s, save: 0.03s) +[05/24 16:30:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_185 +[05/24 16:30:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 185: 1/1 successful episodes +[05/24 16:30:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 202 (index 16/83) +[05/24 16:30:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 202 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:30:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_202_ceiling.xml +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=202, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:30:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:30:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 202 episode 0/1 collected=0/2 +[05/24 16:30:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 202 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 16:31:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_202: 1 episodes +[05/24 16:31:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_202 +[05/24 16:31:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_202 in 2.41s (batch: 2.32s, save: 0.08s) +[05/24 16:31:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_202 +[05/24 16:31:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 202: 0/1 successful episodes +[05/24 16:31:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 212 (index 17/83) +[05/24 16:31:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 212 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:31:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_212_ceiling.xml +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=212, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:32:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:32:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 212 episode 0/2 collected=0/2 +[05/24 16:32:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 212 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_8 completed with success=False +[05/24 16:33:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_212_ceiling.xml +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=212, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:33:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:41 [1;37mWorker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:33:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 212 episode 1/2 collected=1/2 +[05/24 16:33:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 212 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_2_0_8 completed with success=True +[05/24 16:33:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_212: 2 episodes +[05/24 16:33:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:33:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_212 +[05/24 16:33:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_212 in 4.42s (batch: 4.27s, save: 0.14s) +[05/24 16:33:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_212 +[05/24 16:33:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 212: 1/2 successful episodes +[05/24 16:33:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 224 (index 18/83) +[05/24 16:33:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 224 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:33:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_224_ceiling.xml +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=224, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:34:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper' +[05/24 16:34:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 224 episode 0/1 collected=0/2 +[05/24 16:34:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 224 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 16:35:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_224: 1 episodes +[05/24 16:35:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_224 +[05/24 16:35:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_224 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 16:35:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_224 +[05/24 16:35:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 224: 0/1 successful episodes +[05/24 16:35:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 233 (index 19/83) +[05/24 16:35:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 233 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:35:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_233_ceiling.xml +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=233, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:35:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:35:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 233 episode 0/2 collected=0/2 +[05/24 16:35:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 233 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:35:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_233_ceiling.xml +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=233, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:35:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:35:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 233 episode 1/2 collected=1/2 +[05/24 16:35:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 233 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:36:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_233: 2 episodes +[05/24 16:36:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:37:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:37:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_233 +[05/24 16:37:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_233 in 4.11s (batch: 4.00s, save: 0.12s) +[05/24 16:37:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_233 +[05/24 16:37:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 233: 1/2 successful episodes +[05/24 16:37:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 247 (index 20/83) +[05/24 16:37:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 247 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:37:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_247_ceiling.xml +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=247, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:37:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the fork' +[05/24 16:37:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 247 episode 0/1 collected=0/2 +[05/24 16:37:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 247 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:38:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_247: 1 episodes +[05/24 16:38:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_247 +[05/24 16:38:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_247 in 2.16s (batch: 2.07s, save: 0.09s) +[05/24 16:38:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_247 +[05/24 16:38:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 247: 0/1 successful episodes +[05/24 16:38:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 257 (index 21/83) +[05/24 16:38:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 257 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:38:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_257_ceiling.xml +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=257, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:38:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:38:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 257 episode 0/2 collected=0/2 +[05/24 16:38:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 257 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 16:39:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_257_ceiling.xml +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=257, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:39:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 16:39:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 257 episode 1/2 collected=1/2 +[05/24 16:39:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 257 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 16:41:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_257: 2 episodes +[05/24 16:41:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_257 +[05/24 16:41:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_257 in 4.33s (batch: 4.16s, save: 0.17s) +[05/24 16:41:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_257 +[05/24 16:41:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 257: 0/2 successful episodes +[05/24 16:41:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 269 (index 22/83) +[05/24 16:41:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 269 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:41:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_269_ceiling.xml +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=269, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:41:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:41:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 269 episode 0/1 collected=0/2 +[05/24 16:41:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 269 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:41:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_269: 1 episodes +[05/24 16:41:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:41:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_269 +[05/24 16:41:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_269 in 1.96s (batch: 1.93s, save: 0.03s) +[05/24 16:41:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_269 +[05/24 16:41:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 269: 1/1 successful episodes +[05/24 16:41:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 290 (index 23/83) +[05/24 16:41:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 290 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:41:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_290_ceiling.xml +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=290, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:41:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:41:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 290 episode 0/2 collected=0/2 +[05/24 16:41:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 290 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 16:41:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_290_ceiling.xml +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=290, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:41:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:41:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 290 episode 1/2 collected=1/2 +[05/24 16:41:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 290 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:42:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_290: 2 episodes +[05/24 16:42:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 16:42:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_290 +[05/24 16:42:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_290 in 4.13s (batch: 4.02s, save: 0.11s) +[05/24 16:42:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_290 +[05/24 16:42:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 290: 1/2 successful episodes +[05/24 16:42:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 296 (index 24/83) +[05/24 16:42:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 296 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:42:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_296_ceiling.xml +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=296, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:43:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:43:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 296 episode 0/1 collected=0/2 +[05/24 16:43:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 296 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 16:44:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_296: 1 episodes +[05/24 16:44:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_296 +[05/24 16:44:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_296 in 2.34s (batch: 2.26s, save: 0.09s) +[05/24 16:44:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_296 +[05/24 16:44:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 296: 0/1 successful episodes +[05/24 16:44:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 313 (index 25/83) +[05/24 16:44:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 313 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:44:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_313_ceiling.xml +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=313, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:44:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:44:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 313 episode 0/2 collected=0/2 +[05/24 16:44:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 313 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:44:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_313_ceiling.xml +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=313, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:44:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:44:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 313 episode 1/2 collected=1/2 +[05/24 16:44:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 313 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_313: 2 episodes +[05/24 16:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:46:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_313 +[05/24 16:46:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_313 in 4.06s (batch: 3.94s, save: 0.13s) +[05/24 16:46:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_313 +[05/24 16:46:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 313: 1/2 successful episodes +[05/24 16:46:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 320 (index 26/83) +[05/24 16:46:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 320 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:46:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_320_ceiling.xml +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=320, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 92 objects +[05/24 16:46:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:46:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 320 episode 0/1 collected=0/2 +[05/24 16:46:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 320 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:48:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_320: 1 episodes +[05/24 16:48:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_320 +[05/24 16:48:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_320 in 2.19s (batch: 2.10s, save: 0.09s) +[05/24 16:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_320 +[05/24 16:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 320: 0/1 successful episodes +[05/24 16:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 335 (index 27/83) +[05/24 16:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 335 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_335_ceiling.xml +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=335, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:48:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal rectangular box' +[05/24 16:48:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 335 episode 0/2 collected=0/2 +[05/24 16:48:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 335 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_335_ceiling.xml +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=335, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:48:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 16:48:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 335 episode 1/2 collected=1/2 +[05/24 16:48:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 335 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 16:49:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_335: 2 episodes +[05/24 16:49:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 194 timesteps +[05/24 16:49:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 126 timesteps +[05/24 16:49:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:18 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_335 +[05/24 16:49:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_335 in 4.44s (batch: 4.35s, save: 0.09s) +[05/24 16:49:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_335 +[05/24 16:49:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 335: 2/2 successful episodes +[05/24 16:49:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 337 (index 28/83) +[05/24 16:49:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 337 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:49:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_337_ceiling.xml +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=337, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 16:49:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:49:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 337 episode 0/1 collected=0/2 +[05/24 16:49:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 337 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=True +[05/24 16:49:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_337: 1 episodes +[05/24 16:49:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:49:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_337 +[05/24 16:49:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_337 in 1.95s (batch: 1.90s, save: 0.05s) +[05/24 16:49:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_337 +[05/24 16:49:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 337: 1/1 successful episodes +[05/24 16:49:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 355 (index 29/83) +[05/24 16:49:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 355 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:49:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_355_ceiling.xml +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=355, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:49:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:49:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 355 episode 0/1 collected=0/2 +[05/24 16:49:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 355 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:51:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_355: 1 episodes +[05/24 16:51:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_355 +[05/24 16:51:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_355 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 16:51:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_355 +[05/24 16:51:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 355: 0/1 successful episodes +[05/24 16:51:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 365 (index 30/83) +[05/24 16:51:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 365 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:51:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_365_ceiling.xml +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=365, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:51:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 16:51:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 365 episode 0/2 collected=0/2 +[05/24 16:51:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 365 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 16:52:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_365_ceiling.xml +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=365, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:52:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:52:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 365 episode 1/2 collected=1/2 +[05/24 16:52:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 365 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:52:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_365: 2 episodes +[05/24 16:52:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 289 timesteps +[05/24 16:52:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:52:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_365 +[05/24 16:52:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_365 in 3.96s (batch: 3.88s, save: 0.09s) +[05/24 16:52:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_365 +[05/24 16:52:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 365: 2/2 successful episodes +[05/24 16:52:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 379 (index 31/83) +[05/24 16:52:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 379 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:52:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_379_ceiling.xml +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=379, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:52:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:52:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 379 episode 0/2 collected=0/2 +[05/24 16:52:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 379 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:54:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_379_ceiling.xml +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=379, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:54:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:54:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 379 episode 1/2 collected=1/2 +[05/24 16:54:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 379 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 16:54:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_379: 2 episodes +[05/24 16:54:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:54:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_379 +[05/24 16:54:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_379 in 4.43s (batch: 4.31s, save: 0.12s) +[05/24 16:54:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_379 +[05/24 16:54:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 379: 1/2 successful episodes +[05/24 16:54:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 387 (index 32/83) +[05/24 16:54:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 387 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:54:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_387_ceiling.xml +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=387, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:54:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:54:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 387 episode 0/1 collected=0/2 +[05/24 16:54:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 387 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 16:56:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_387: 1 episodes +[05/24 16:56:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_387 +[05/24 16:56:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_387 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 16:56:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_387 +[05/24 16:56:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 387: 0/1 successful episodes +[05/24 16:56:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 402 (index 33/83) +[05/24 16:56:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 402 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:56:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_402_ceiling.xml +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=402, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:56:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:56:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 402 episode 0/2 collected=0/2 +[05/24 16:56:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 402 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 16:57:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_402_ceiling.xml +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=402, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:57:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot' +[05/24 16:57:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 402 episode 1/2 collected=1/2 +[05/24 16:57:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 402 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_2 completed with success=True +[05/24 16:57:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_402: 2 episodes +[05/24 16:57:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 182 timesteps +[05/24 16:57:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_402 +[05/24 16:57:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_402 in 4.56s (batch: 4.43s, save: 0.13s) +[05/24 16:57:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_402 +[05/24 16:57:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 402: 1/2 successful episodes +[05/24 16:57:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 408 (index 34/83) +[05/24 16:57:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 408 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:57:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_408_ceiling.xml +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=408, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:58:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender polished metal butter knife' +[05/24 16:58:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 408 episode 0/1 collected=0/2 +[05/24 16:58:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 408 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:59:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_408: 1 episodes +[05/24 16:59:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:59:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_408 +[05/24 16:59:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_408 in 2.08s (batch: 1.99s, save: 0.09s) +[05/24 16:59:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_408 +[05/24 16:59:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 408: 0/1 successful episodes +[05/24 16:59:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 430 (index 35/83) +[05/24 16:59:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 430 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 16:59:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_430_ceiling.xml +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=430, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:59:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:59:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 430 episode 0/1 collected=0/2 +[05/24 16:59:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 430 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:00:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_430: 1 episodes +[05/24 17:00:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_430 +[05/24 17:00:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_430 in 2.17s (batch: 2.08s, save: 0.09s) +[05/24 17:00:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_430 +[05/24 17:00:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 430: 0/1 successful episodes +[05/24 17:00:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 432 (index 36/83) +[05/24 17:00:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 432 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:00:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_432_ceiling.xml +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=432, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 17:00:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:00:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 432 episode 0/2 collected=0/2 +[05/24 17:00:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 432 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_8 completed with success=False +[05/24 17:02:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_432_ceiling.xml +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=432, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 17:03:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with thick rim' +[05/24 17:03:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 432 episode 1/2 collected=1/2 +[05/24 17:03:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 432 episode 1 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 17:03:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_432: 2 episodes +[05/24 17:03:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:03:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_432 +[05/24 17:03:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_432 in 4.03s (batch: 3.91s, save: 0.11s) +[05/24 17:03:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_432 +[05/24 17:03:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 432: 1/2 successful episodes +[05/24 17:03:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 457 (index 37/83) +[05/24 17:03:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 457 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:03:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_457_ceiling.xml +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=457, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 114 objects +[05/24 17:03:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:03:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 457 episode 0/1 collected=0/2 +[05/24 17:03:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 457 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 17:04:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_457: 1 episodes +[05/24 17:04:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:04:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_457 +[05/24 17:04:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_457 in 2.21s (batch: 2.15s, save: 0.06s) +[05/24 17:04:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_457 +[05/24 17:04:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 457: 1/1 successful episodes +[05/24 17:04:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 460 (index 38/83) +[05/24 17:04:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 460 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:04:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_460_ceiling.xml +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=460, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:04:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray bowl' +[05/24 17:04:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 460 episode 0/2 collected=0/2 +[05/24 17:04:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 460 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=True +[05/24 17:04:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_460_ceiling.xml +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=460, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:04:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:04:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 460 episode 1/2 collected=1/2 +[05/24 17:04:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 460 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_6 completed with success=True +[05/24 17:04:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_460: 2 episodes +[05/24 17:04:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:04:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 17:04:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_460 +[05/24 17:05:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_460 in 3.93s (batch: 3.85s, save: 0.08s) +[05/24 17:05:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_460 +[05/24 17:05:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 460: 2/2 successful episodes +[05/24 17:05:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 476 (index 39/83) +[05/24 17:05:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 476 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:05:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_476_ceiling.xml +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=476, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:05:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:05:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 476 episode 0/2 collected=0/2 +[05/24 17:05:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 476 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 17:05:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_476_ceiling.xml +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=476, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:05:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:05:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 476 episode 1/2 collected=1/2 +[05/24 17:05:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 476 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:06:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_476: 2 episodes +[05/24 17:06:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:06:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_476 +[05/24 17:06:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_476 in 4.31s (batch: 4.20s, save: 0.11s) +[05/24 17:06:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_476 +[05/24 17:06:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 476: 1/2 successful episodes +[05/24 17:06:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 483 (index 40/83) +[05/24 17:06:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 483 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:06:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_483_ceiling.xml +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=483, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 17:06:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth tapered translucent plastic cup' +[05/24 17:06:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 483 episode 0/1 collected=0/2 +[05/24 17:06:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 483 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True +[05/24 17:07:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_483: 1 episodes +[05/24 17:07:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:07:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_483 +[05/24 17:07:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_483 in 2.14s (batch: 2.11s, save: 0.03s) +[05/24 17:07:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_483 +[05/24 17:07:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 483: 1/1 successful episodes +[05/24 17:07:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 498 (index 41/83) +[05/24 17:07:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 498 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:07:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_498_ceiling.xml +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=498, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:07:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 17:07:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 498 episode 0/1 collected=0/2 +[05/24 17:07:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 498 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 17:07:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_498: 1 episodes +[05/24 17:07:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:07:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:07:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_498 +[05/24 17:07:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_498 in 2.21s (batch: 2.17s, save: 0.03s) +[05/24 17:07:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_498 +[05/24 17:07:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 498: 1/1 successful episodes +[05/24 17:07:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 516 (index 42/83) +[05/24 17:07:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 516 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:07:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_516_ceiling.xml +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=516, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:07:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:07:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 516 episode 0/2 collected=0/2 +[05/24 17:07:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 516 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_6 completed with success=False +[05/24 17:08:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_516_ceiling.xml +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=516, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:08:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:08:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 516 episode 1/2 collected=1/2 +[05/24 17:08:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 516 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 17:10:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_516: 2 episodes +[05/24 17:10:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_516 +[05/24 17:10:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_516 in 4.35s (batch: 4.17s, save: 0.18s) +[05/24 17:10:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_516 +[05/24 17:10:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 516: 0/2 successful episodes +[05/24 17:10:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 518 (index 43/83) +[05/24 17:10:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 518 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:10:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_518_ceiling.xml +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=518, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:10:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:10:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 518 episode 0/1 collected=0/2 +[05/24 17:10:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 518 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_8 completed with success=True +[05/24 17:10:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_518: 1 episodes +[05/24 17:10:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:10:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_518 +[05/24 17:10:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_518 in 1.94s (batch: 1.91s, save: 0.03s) +[05/24 17:10:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_518 +[05/24 17:10:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 518: 1/1 successful episodes +[05/24 17:10:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 535 (index 44/83) +[05/24 17:10:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 535 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:10:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_535_ceiling.xml +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=535, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:10:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:10:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 535 episode 0/1 collected=0/2 +[05/24 17:10:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 535 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_9 completed with success=False +[05/24 17:12:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_535: 1 episodes +[05/24 17:12:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:12:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_535 +[05/24 17:12:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_535 in 2.36s (batch: 2.27s, save: 0.09s) +[05/24 17:12:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_535 +[05/24 17:12:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 535: 0/1 successful episodes +[05/24 17:12:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 545 (index 45/83) +[05/24 17:12:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 545 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:12:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_545_ceiling.xml +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=545, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:12:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 17:12:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 545 episode 0/2 collected=0/2 +[05/24 17:12:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 545 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_6 completed with success=False +[05/24 17:13:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_545_ceiling.xml +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=545, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:13:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the remote control' +[05/24 17:13:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 545 episode 1/2 collected=1/2 +[05/24 17:13:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 545 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 17:13:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_545: 2 episodes +[05/24 17:13:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:14:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_545 +[05/24 17:14:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_545 in 4.15s (batch: 4.03s, save: 0.12s) +[05/24 17:14:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_545 +[05/24 17:14:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 545: 1/2 successful episodes +[05/24 17:14:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 556 (index 46/83) +[05/24 17:14:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 556 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:14:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_556_ceiling.xml +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=556, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife blade' +[05/24 17:14:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 556 episode 0/2 collected=0/2 +[05/24 17:14:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 556 episode 0 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_2 completed with success=True +[05/24 17:14:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_556_ceiling.xml +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=556, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:14:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 17:14:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 556 episode 1/2 collected=1/2 +[05/24 17:14:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 556 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:15:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_556: 2 episodes +[05/24 17:15:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:15:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:15:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_556 +[05/24 17:15:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_556 in 4.11s (batch: 4.00s, save: 0.11s) +[05/24 17:15:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_556 +[05/24 17:15:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 556: 1/2 successful episodes +[05/24 17:15:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 561 (index 47/83) +[05/24 17:15:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 561 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:15:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_561_ceiling.xml +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=561, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:15:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:15:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 561 episode 0/1 collected=0/2 +[05/24 17:15:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 561 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:16:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_561: 1 episodes +[05/24 17:16:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_561 +[05/24 17:16:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_561 in 2.41s (batch: 2.31s, save: 0.10s) +[05/24 17:16:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_561 +[05/24 17:16:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 561: 0/1 successful episodes +[05/24 17:16:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 578 (index 48/83) +[05/24 17:16:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 578 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:16:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_578_ceiling.xml +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=578, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:16:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:16:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 578 episode 0/2 collected=0/2 +[05/24 17:16:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 578 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 17:17:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_578_ceiling.xml +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=578, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:17:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:17:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 578 episode 1/2 collected=1/2 +[05/24 17:17:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 578 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_5 completed with success=True +[05/24 17:18:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_578: 2 episodes +[05/24 17:18:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:18:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 361 timesteps +[05/24 17:18:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_578 +[05/24 17:18:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_578 in 4.06s (batch: 3.96s, save: 0.10s) +[05/24 17:18:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_578 +[05/24 17:18:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 578: 2/2 successful episodes +[05/24 17:18:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 582 (index 49/83) +[05/24 17:18:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 582 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:18:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_582_ceiling.xml +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=582, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:18:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth red apple' +[05/24 17:18:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 582 episode 0/1 collected=0/2 +[05/24 17:18:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 582 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:19:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_582: 1 episodes +[05/24 17:19:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_582 +[05/24 17:19:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_582 in 2.26s (batch: 2.17s, save: 0.09s) +[05/24 17:19:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_582 +[05/24 17:19:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 582: 0/1 successful episodes +[05/24 17:19:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 606 (index 50/83) +[05/24 17:19:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 606 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:19:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_606_ceiling.xml +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=606, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:19:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:19:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 606 episode 0/1 collected=0/2 +[05/24 17:19:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 606 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3 completed with success=False +[05/24 17:20:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_606: 1 episodes +[05/24 17:20:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_606 +[05/24 17:20:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_606 in 2.45s (batch: 2.35s, save: 0.10s) +[05/24 17:20:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_606 +[05/24 17:20:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 606: 0/1 successful episodes +[05/24 17:20:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 611 (index 51/83) +[05/24 17:20:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 611 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:20:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_611_ceiling.xml +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=611, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:20:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:20:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 611 episode 0/2 collected=0/2 +[05/24 17:20:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 611 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:22:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_611_ceiling.xml +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=611, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:22:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth tapered translucent plastic cup' +[05/24 17:22:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 611 episode 1/2 collected=1/2 +[05/24 17:22:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 611 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:23:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_611: 2 episodes +[05/24 17:23:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_611 +[05/24 17:23:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_611 in 4.37s (batch: 4.20s, save: 0.17s) +[05/24 17:23:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_611 +[05/24 17:23:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 611: 0/2 successful episodes +[05/24 17:23:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 623 (index 52/83) +[05/24 17:23:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 623 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:23:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_623_ceiling.xml +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=623, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:23:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 17:23:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 623 episode 0/1 collected=0/2 +[05/24 17:23:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 623 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_6 completed with success=False +[05/24 17:25:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_623: 1 episodes +[05/24 17:25:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_623 +[05/24 17:25:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_623 in 2.14s (batch: 2.04s, save: 0.09s) +[05/24 17:25:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_623 +[05/24 17:25:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 623: 0/1 successful episodes +[05/24 17:25:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 633 (index 53/83) +[05/24 17:25:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 633 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:25:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_633_ceiling.xml +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=633, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:25:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:25:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 633 episode 0/2 collected=0/2 +[05/24 17:25:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 633 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 17:25:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_633_ceiling.xml +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=633, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:25:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:25:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 633 episode 1/2 collected=1/2 +[05/24 17:25:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 633 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:26:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_633: 2 episodes +[05/24 17:26:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 36 timesteps +[05/24 17:26:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:53 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_633 +[05/24 17:26:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_633 in 4.12s (batch: 4.01s, save: 0.11s) +[05/24 17:26:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_633 +[05/24 17:26:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 633: 1/2 successful episodes +[05/24 17:26:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 650 (index 54/83) +[05/24 17:26:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 650 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:26:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_650_ceiling.xml +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=650, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 17:26:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the brown cup' +[05/24 17:26:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 650 episode 0/2 collected=0/2 +[05/24 17:26:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 650 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 17:27:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_650_ceiling.xml +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=650, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 17:27:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 17:27:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 650 episode 1/2 collected=1/2 +[05/24 17:27:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 650 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:28:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_650: 2 episodes +[05/24 17:28:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:28:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:28:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_650 +[05/24 17:28:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_650 in 4.57s (batch: 4.46s, save: 0.11s) +[05/24 17:28:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_650 +[05/24 17:28:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 650: 1/2 successful episodes +[05/24 17:28:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 655 (index 55/83) +[05/24 17:28:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 655 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:28:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_655_ceiling.xml +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=655, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:28:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 17:28:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 655 episode 0/1 collected=0/2 +[05/24 17:28:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 655 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=True +[05/24 17:29:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_655: 1 episodes +[05/24 17:29:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:29:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_655 +[05/24 17:29:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_655 in 1.91s (batch: 1.88s, save: 0.03s) +[05/24 17:29:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_655 +[05/24 17:29:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 655: 1/1 successful episodes +[05/24 17:29:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 671 (index 56/83) +[05/24 17:29:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 671 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:29:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_671_ceiling.xml +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=671, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:29:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap bottle' +[05/24 17:29:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 671 episode 0/1 collected=0/2 +[05/24 17:29:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 671 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=False +[05/24 17:30:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_671: 1 episodes +[05/24 17:30:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_671 +[05/24 17:30:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_671 in 2.14s (batch: 2.04s, save: 0.10s) +[05/24 17:30:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_671 +[05/24 17:30:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 671: 0/1 successful episodes +[05/24 17:30:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 679 (index 57/83) +[05/24 17:30:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 679 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:30:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_679_ceiling.xml +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=679, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:30:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:30:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 679 episode 0/2 collected=0/2 +[05/24 17:30:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 679 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:30:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_679_ceiling.xml +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=679, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:30:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:30:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 679 episode 1/2 collected=1/2 +[05/24 17:30:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 679 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 17:31:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_679: 2 episodes +[05/24 17:31:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 17:31:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:31:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_679 +[05/24 17:31:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_679 in 4.13s (batch: 4.08s, save: 0.05s) +[05/24 17:31:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_679 +[05/24 17:31:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 679: 2/2 successful episodes +[05/24 17:31:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 695 (index 58/83) +[05/24 17:31:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 695 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:31:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_695_ceiling.xml +[05/24 17:31:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=695, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:31:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:31:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 695 episode 0/1 collected=0/2 +[05/24 17:31:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 695 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_2_0_5 completed with success=False +[05/24 17:32:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_695: 1 episodes +[05/24 17:32:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:32:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_695 +[05/24 17:32:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_695 in 2.40s (batch: 2.29s, save: 0.11s) +[05/24 17:32:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_695 +[05/24 17:32:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 695: 0/1 successful episodes +[05/24 17:32:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 715 (index 59/83) +[05/24 17:32:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 715 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:32:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_715_ceiling.xml +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=715, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:32:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 17:32:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 715 episode 0/1 collected=0/2 +[05/24 17:32:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 715 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_4 completed with success=True +[05/24 17:32:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_715: 1 episodes +[05/24 17:32:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 17:32:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_715 +[05/24 17:32:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_715 in 2.11s (batch: 2.08s, save: 0.03s) +[05/24 17:32:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_715 +[05/24 17:32:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 715: 1/1 successful episodes +[05/24 17:32:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 728 (index 60/83) +[05/24 17:32:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 728 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:32:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_728_ceiling.xml +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=728, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:32:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:32:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 728 episode 0/2 collected=0/2 +[05/24 17:32:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 728 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=False +[05/24 17:34:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_728_ceiling.xml +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=728, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:34:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:34:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 728 episode 1/2 collected=1/2 +[05/24 17:34:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 728 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 17:35:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_728: 2 episodes +[05/24 17:35:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:35:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:35:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_728 +[05/24 17:35:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_728 in 4.81s (batch: 4.64s, save: 0.17s) +[05/24 17:35:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_728 +[05/24 17:35:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 728: 0/2 successful episodes +[05/24 17:35:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 730 (index 61/83) +[05/24 17:35:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 730 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:35:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_730_ceiling.xml +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=730, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 108 objects +[05/24 17:35:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:35:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 730 episode 0/1 collected=0/2 +[05/24 17:35:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 730 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 17:35:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_730: 1 episodes +[05/24 17:35:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 17:35:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_730 +[05/24 17:35:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_730 in 1.96s (batch: 1.92s, save: 0.04s) +[05/24 17:35:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_730 +[05/24 17:35:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 730: 1/1 successful episodes +[05/24 17:35:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 747 (index 62/83) +[05/24 17:35:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 747 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:35:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_747_ceiling.xml +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=747, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:35:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:35:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 747 episode 0/2 collected=0/2 +[05/24 17:35:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 747 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_3_0_2 completed with success=False +[05/24 17:37:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_747_ceiling.xml +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=747, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:37:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 17:37:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 747 episode 1/2 collected=1/2 +[05/24 17:37:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 747 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 17:39:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_747: 2 episodes +[05/24 17:39:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_747 +[05/24 17:39:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_747 in 4.72s (batch: 4.55s, save: 0.17s) +[05/24 17:39:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_747 +[05/24 17:39:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 747: 0/2 successful episodes +[05/24 17:39:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 755 (index 63/83) +[05/24 17:39:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 755 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:39:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_755_ceiling.xml +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=755, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 17:39:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 17:39:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 755 episode 0/1 collected=0/2 +[05/24 17:39:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 755 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_2_0_6 completed with success=True +[05/24 17:39:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_755: 1 episodes +[05/24 17:39:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 17:39:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_755 +[05/24 17:39:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_755 in 1.93s (batch: 1.88s, save: 0.05s) +[05/24 17:39:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_755 +[05/24 17:39:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 755: 1/1 successful episodes +[05/24 17:39:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 775 (index 64/83) +[05/24 17:39:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 775 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:39:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_775_ceiling.xml +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=775, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutting implement' +[05/24 17:39:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 775 episode 0/2 collected=0/2 +[05/24 17:39:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 775 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=True +[05/24 17:39:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_775_ceiling.xml +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=775, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup without handle' +[05/24 17:39:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 775 episode 1/2 collected=1/2 +[05/24 17:39:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 775 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_2 completed with success=True +[05/24 17:40:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_775: 2 episodes +[05/24 17:40:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 180 timesteps +[05/24 17:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_775 +[05/24 17:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_775 in 4.38s (batch: 4.30s, save: 0.08s) +[05/24 17:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_775 +[05/24 17:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 775: 2/2 successful episodes +[05/24 17:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 777 (index 65/83) +[05/24 17:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 777 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_777_ceiling.xml +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=777, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 17:40:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 777 episode 0/1 collected=0/2 +[05/24 17:40:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 777 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_2_0_6 completed with success=False +[05/24 17:41:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_777: 1 episodes +[05/24 17:41:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_777 +[05/24 17:41:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_777 in 2.29s (batch: 2.18s, save: 0.11s) +[05/24 17:41:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_777 +[05/24 17:41:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 777: 0/1 successful episodes +[05/24 17:41:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 796 (index 66/83) +[05/24 17:41:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 796 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:41:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_796_ceiling.xml +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=796, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 108 objects +[05/24 17:41:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:41:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 796 episode 0/1 collected=0/2 +[05/24 17:41:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 796 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_4 completed with success=True +[05/24 17:42:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_796: 1 episodes +[05/24 17:42:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:42:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_796 +[05/24 17:42:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_796 in 1.92s (batch: 1.89s, save: 0.03s) +[05/24 17:42:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_796 +[05/24 17:42:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 796: 1/1 successful episodes +[05/24 17:42:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 816 (index 67/83) +[05/24 17:42:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 816 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:42:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_816_ceiling.xml +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=816, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects +[05/24 17:42:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife' +[05/24 17:42:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 816 episode 0/2 collected=0/2 +[05/24 17:42:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 816 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_3_0_2 completed with success=False +[05/24 17:43:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_816_ceiling.xml +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=816, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 91 objects +[05/24 17:43:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:43:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 816 episode 1/2 collected=1/2 +[05/24 17:43:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 816 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:45:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_816: 2 episodes +[05/24 17:45:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_816 +[05/24 17:45:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_816 in 4.67s (batch: 4.50s, save: 0.16s) +[05/24 17:45:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_816 +[05/24 17:45:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 816: 0/2 successful episodes +[05/24 17:45:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 829 (index 68/83) +[05/24 17:45:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 829 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:45:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_829_ceiling.xml +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=829, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 5 objects +[05/24 17:45:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:45:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 829 episode 0/1 collected=0/2 +[05/24 17:45:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 829 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:46:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_829: 1 episodes +[05/24 17:46:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_829 +[05/24 17:46:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_829 in 2.14s (batch: 2.05s, save: 0.09s) +[05/24 17:46:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_829 +[05/24 17:46:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 829: 0/1 successful episodes +[05/24 17:46:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 835 (index 69/83) +[05/24 17:46:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 835 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:46:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_835_ceiling.xml +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=835, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:46:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plastic cup' +[05/24 17:46:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 835 episode 0/2 collected=0/2 +[05/24 17:46:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 835 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_2 completed with success=True +[05/24 17:46:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_835_ceiling.xml +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=835, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:46:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife' +[05/24 17:46:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 835 episode 1/2 collected=1/2 +[05/24 17:46:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 835 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=True +[05/24 17:47:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_835: 2 episodes +[05/24 17:47:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:47:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:47:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_835 +[05/24 17:47:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_835 in 4.25s (batch: 4.20s, save: 0.05s) +[05/24 17:47:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_835 +[05/24 17:47:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 835: 2/2 successful episodes +[05/24 17:47:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 851 (index 70/83) +[05/24 17:47:08 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 851 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:47:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_851_ceiling.xml +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=851, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 17:47:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 851 episode 0/2 collected=0/2 +[05/24 17:47:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 851 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:48:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_851_ceiling.xml +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=851, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:48:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:48:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 851 episode 1/2 collected=1/2 +[05/24 17:48:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 851 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 17:49:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_851: 2 episodes +[05/24 17:49:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_851 +[05/24 17:49:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_851 in 4.61s (batch: 4.44s, save: 0.16s) +[05/24 17:49:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_851 +[05/24 17:49:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 851: 0/2 successful episodes +[05/24 17:49:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 864 (index 71/83) +[05/24 17:49:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 864 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:49:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_864_ceiling.xml +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=864, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:49:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:49:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 864 episode 0/1 collected=0/2 +[05/24 17:49:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 864 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 17:50:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_864: 1 episodes +[05/24 17:50:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 115 timesteps +[05/24 17:50:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_864 +[05/24 17:50:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_864 in 2.13s (batch: 2.08s, save: 0.05s) +[05/24 17:50:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_864 +[05/24 17:50:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 864: 1/1 successful episodes +[05/24 17:50:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 877 (index 72/83) +[05/24 17:50:10 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 877 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:50:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_877_ceiling.xml +[05/24 17:50:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=877, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:50:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the compact dark teal rectangular box' +[05/24 17:50:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 877 episode 0/2 collected=0/2 +[05/24 17:50:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 877 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:50:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_877_ceiling.xml +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=877, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:50:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black mug' +[05/24 17:50:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 877 episode 1/2 collected=1/2 +[05/24 17:50:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 877 episode 1 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_7 completed with success=True +[05/24 17:50:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_877: 2 episodes +[05/24 17:50:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 32 timesteps +[05/24 17:50:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:50:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_877 +[05/24 17:50:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_877 in 4.29s (batch: 4.24s, save: 0.05s) +[05/24 17:50:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_877 +[05/24 17:50:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 877: 2/2 successful episodes +[05/24 17:50:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 892 (index 73/83) +[05/24 17:50:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 892 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:50:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_892_ceiling.xml +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=892, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:50:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth tapered translucent plastic cup' +[05/24 17:50:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 892 episode 0/2 collected=0/2 +[05/24 17:50:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 892 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=True +[05/24 17:51:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_892_ceiling.xml +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=892, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:51:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:51:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 892 episode 1/2 collected=1/2 +[05/24 17:51:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 892 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:51:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_892: 2 episodes +[05/24 17:51:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:51:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_892 +[05/24 17:51:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_892 in 4.23s (batch: 4.18s, save: 0.06s) +[05/24 17:51:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_892 +[05/24 17:51:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 892: 2/2 successful episodes +[05/24 17:51:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 903 (index 74/83) +[05/24 17:51:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 903 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:51:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_903_ceiling.xml +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=903, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 110 objects +[05/24 17:51:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:51:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 903 episode 0/2 collected=0/2 +[05/24 17:51:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 903 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 17:53:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_903_ceiling.xml +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=903, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 110 objects +[05/24 17:53:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy smooth red apple' +[05/24 17:53:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 903 episode 1/2 collected=1/2 +[05/24 17:53:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 903 episode 1 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:55:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_903: 2 episodes +[05/24 17:55:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:37 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_903 +[05/24 17:55:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_903 in 4.14s (batch: 3.98s, save: 0.16s) +[05/24 17:55:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_903 +[05/24 17:55:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 903: 0/2 successful episodes +[05/24 17:55:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 905 (index 75/83) +[05/24 17:55:37 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 905 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:55:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_905_ceiling.xml +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=905, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:55:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:55:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 905 episode 0/1 collected=0/2 +[05/24 17:55:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 905 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:55:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_905: 1 episodes +[05/24 17:55:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:55:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_905 +[05/24 17:55:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_905 in 1.86s (batch: 1.83s, save: 0.03s) +[05/24 17:55:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_905 +[05/24 17:55:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 905: 1/1 successful episodes +[05/24 17:55:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 927 (index 76/83) +[05/24 17:55:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 927 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:55:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_927_ceiling.xml +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=927, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:55:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:55:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 927 episode 0/2 collected=0/2 +[05/24 17:55:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 927 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 17:56:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_927_ceiling.xml +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=927, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:56:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:56:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 927 episode 1/2 collected=1/2 +[05/24 17:56:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 927 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 17:56:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_927: 2 episodes +[05/24 17:56:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:56:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 135 timesteps +[05/24 17:56:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_927 +[05/24 17:56:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_927 in 3.81s (batch: 3.74s, save: 0.07s) +[05/24 17:56:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_927 +[05/24 17:56:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 927: 2/2 successful episodes +[05/24 17:56:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 928 (index 77/83) +[05/24 17:56:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 928 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:56:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_928_ceiling.xml +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=928, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:56:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:56:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 928 episode 0/1 collected=0/2 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 928 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:57:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_928: 1 episodes +[05/24 17:57:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:57:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_928 +[05/24 17:57:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_928 in 2.33s (batch: 2.24s, save: 0.09s) +[05/24 17:58:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_928 +[05/24 17:58:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 928: 0/1 successful episodes +[05/24 17:58:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 946 (index 78/83) +[05/24 17:58:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 946 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:58:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_946_ceiling.xml +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=946, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:58:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:58:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 946 episode 0/1 collected=0/2 +[05/24 17:58:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 946 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_3_0_9 completed with success=True +[05/24 17:58:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_946: 1 episodes +[05/24 17:58:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:58:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_946 +[05/24 17:58:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_946 in 2.15s (batch: 2.12s, save: 0.03s) +[05/24 17:58:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_946 +[05/24 17:58:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 946: 1/1 successful episodes +[05/24 17:58:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 957 (index 79/83) +[05/24 17:58:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 957 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 17:58:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_957_ceiling.xml +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=957, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:58:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:58:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 957 episode 0/2 collected=0/2 +[05/24 17:58:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 957 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:59:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_957_ceiling.xml +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=957, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:59:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the food turner' +[05/24 17:59:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 957 episode 1/2 collected=1/2 +[05/24 17:59:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 957 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 18:00:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_957: 2 episodes +[05/24 18:00:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 18:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_957 +[05/24 18:00:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_957 in 4.06s (batch: 3.95s, save: 0.11s) +[05/24 18:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_957 +[05/24 18:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 957: 1/2 successful episodes +[05/24 18:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 967 (index 80/83) +[05/24 18:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 967 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 18:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_967_ceiling.xml +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=967, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 18:00:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 18:00:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 967 episode 0/2 collected=0/2 +[05/24 18:00:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 967 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_5 completed with success=True +[05/24 18:00:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_967_ceiling.xml +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=967, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 18:00:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 18:00:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 967 episode 1/2 collected=1/2 +[05/24 18:00:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:02:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 967 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 18:02:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_967: 2 episodes +[05/24 18:02:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 176 timesteps +[05/24 18:02:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:02:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:08 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_967 +[05/24 18:02:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_967 in 4.66s (batch: 4.52s, save: 0.13s) +[05/24 18:02:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_967 +[05/24 18:02:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 967: 1/2 successful episodes +[05/24 18:02:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 974 (index 81/83) +[05/24 18:02:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 974 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 18:02:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_974_ceiling.xml +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=974, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 18:02:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 18:02:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 974 episode 0/1 collected=0/2 +[05/24 18:02:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 974 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_4 completed with success=False +[05/24 18:03:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_974: 1 episodes +[05/24 18:03:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_974 +[05/24 18:03:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_974 in 2.29s (batch: 2.20s, save: 0.09s) +[05/24 18:03:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_974 +[05/24 18:03:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 974: 0/1 successful episodes +[05/24 18:03:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 988 (index 82/83) +[05/24 18:03:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 988 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_02 +[05/24 18:03:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_988_ceiling.xml +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=988, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 18:03:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 18:03:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 988 episode 0/2 collected=0/2 +[05/24 18:03:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 988 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 18:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:04:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_988_ceiling.xml +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=988, scene_dataset=procthor-10k, data_split=val +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 18:04:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:04:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:04:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:04:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:04:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:04:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 18:04:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 988 episode 1/2 collected=1/2 +[05/24 18:04:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 988 episode 1 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 18:04:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_988: 2 episodes +[05/24 18:04:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:05:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 18:05:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_988 +[05/24 18:05:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_988 in 4.35s (batch: 4.24s, save: 0.11s) +[05/24 18:05:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_988 +[05/24 18:05:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 988: 1/2 successful episodes +[05/24 18:05:03 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:05:04 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:05:04 INFO pipeline.py:1499] Success count: 61, Total count: 125 +[05/24 18:05:04 INFO pipeline.py:1500] Success rate: 48.80% +Combined 125 episodes from 83 files → /tmp/tmpwabnwb8f.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/results.csv at-end: 48.8% | oracle: 48.8% of 125 episodes +[2026-05-24 18:05:13,022] INFO MolmoSpaces simulator eval finished: success=61/125 rate=0.4880 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval +[2026-05-24 18:05:13,022] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_02/run_command.sh diff --git a/pick_msproc/pick_msproc/submission/shard_03.launcher.log b/pick_msproc/pick_msproc/submission/shard_03.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..bf57ca447b8a03b0272ab964a3a99ea14ad23df7 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_03.launcher.log @@ -0,0 +1,2982 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,373] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,538] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,568] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 (source=arg) +[2026-05-24 15:59:56,725] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,184] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,412] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,413] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,900] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,954] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,992] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [4, + 26, + 39, + 51, + 57, + 78, + 79, + 93, + 107, + 118, + 119, + 137, + 148, + 163, + 171, + 186, + 206, + 218, + 228, + 237, + 251, + 265, + 271, + 293, + 297, + 316, + 322, + 338, + 339, + 357, + 368, + 384, + 388, + 403, + 411, + 431, + 433, + 459, + 461, + 484, + 485, + 500, + 520, + 526, + 538, + 546, + 559, + 564, + 579, + 584, + 607, + 613, + 627, + 635, + 652, + 660, + 674, + 681, + 696, + 718, + 729, + 735, + 751, + 756, + 779, + 780, + 802, + 817, + 833, + 836, + 853, + 873, + 878, + 893, + 906, + 907, + 929, + 931, + 948, + 958, + 969, + 979, + 991], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,996] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 4 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 4 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,184:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,184] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_4_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple with stem' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 4 episode 0/2 collected=0/2 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.320 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:53,874] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:54,304] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:00,094] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:09,201] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:09,205] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 16:07:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_4_ceiling.xml +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=4, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:07:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 16:07:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 4 episode 1/2 collected=1/2 +[05/24 16:07:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 4 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 16:07:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_4: 2 episodes +[05/24 16:07:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:07:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:07:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_4 +[05/24 16:07:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_4 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:07:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_4 +[05/24 16:07:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 4: 1/2 successful episodes +[05/24 16:07:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 26 (index 1/83) +[05/24 16:07:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 26 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:07:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_26_ceiling.xml +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=26, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:07:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:07:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 26 episode 0/2 collected=0/2 +[05/24 16:07:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 26 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:09:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_26_ceiling.xml +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=26, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:09:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup' +[05/24 16:09:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 26 episode 1/2 collected=1/2 +[05/24 16:09:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 26 episode 1 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_2_0_6 completed with success=True +[05/24 16:10:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_26: 2 episodes +[05/24 16:10:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 382 timesteps +[05/24 16:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_26 +[05/24 16:10:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_26 in 3.60s (batch: 3.45s, save: 0.15s) +[05/24 16:10:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_26 +[05/24 16:10:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 26: 1/2 successful episodes +[05/24 16:10:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 39 (index 2/83) +[05/24 16:10:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 39 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:10:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_39_ceiling.xml +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=39, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:10:31 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:10:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 16:10:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 39 episode 0/1 collected=0/2 +[05/24 16:10:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 39 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_4 completed with success=False +[05/24 16:11:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_39: 1 episodes +[05/24 16:11:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_39 +[05/24 16:12:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_39 in 2.53s (batch: 2.42s, save: 0.11s) +[05/24 16:12:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_39 +[05/24 16:12:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 39: 0/1 successful episodes +[05/24 16:12:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 51 (index 3/83) +[05/24 16:12:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 51 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:12:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_51_ceiling.xml +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=51, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:12:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:12:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 51 episode 0/1 collected=0/2 +[05/24 16:12:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 51 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:13:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_51: 1 episodes +[05/24 16:13:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_51 +[05/24 16:13:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_51 in 2.52s (batch: 2.42s, save: 0.10s) +[05/24 16:13:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_51 +[05/24 16:13:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 51: 0/1 successful episodes +[05/24 16:13:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 57 (index 4/83) +[05/24 16:13:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 57 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:13:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_57_ceiling.xml +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=57, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 57 episode 0/2 collected=0/2 +[05/24 16:13:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 57 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:13:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_57_ceiling.xml +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=57, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:13:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:13:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 57 episode 1/2 collected=1/2 +[05/24 16:13:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 57 episode 1 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_6 completed with success=False +[05/24 16:14:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_57: 2 episodes +[05/24 16:14:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:14:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_57 +[05/24 16:15:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_57 in 3.51s (batch: 3.41s, save: 0.11s) +[05/24 16:15:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_57 +[05/24 16:15:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 57: 1/2 successful episodes +[05/24 16:15:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 78 (index 5/83) +[05/24 16:15:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 78 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:15:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_78_ceiling.xml +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=78, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:15:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 16:15:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 78 episode 0/1 collected=0/2 +[05/24 16:15:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 78 episode 0 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 16:16:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_78: 1 episodes +[05/24 16:16:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_78 +[05/24 16:16:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_78 in 1.86s (batch: 1.77s, save: 0.10s) +[05/24 16:16:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_78 +[05/24 16:16:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 78: 0/1 successful episodes +[05/24 16:16:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 79 (index 6/83) +[05/24 16:16:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 79 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:16:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_79_ceiling.xml +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=79, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 115 objects +[05/24 16:16:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 16:16:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 79 episode 0/2 collected=0/2 +[05/24 16:16:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 79 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 16:16:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_79_ceiling.xml +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=79, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 115 objects +[05/24 16:16:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:16:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 79 episode 1/2 collected=1/2 +[05/24 16:16:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 79 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_3_0_2 completed with success=False +[05/24 16:18:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_79: 2 episodes +[05/24 16:18:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:18:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_79 +[05/24 16:18:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_79 in 3.57s (batch: 3.46s, save: 0.11s) +[05/24 16:18:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_79 +[05/24 16:18:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 79: 1/2 successful episodes +[05/24 16:18:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 93 (index 7/83) +[05/24 16:18:36 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 93 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:18:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_93_ceiling.xml +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=93, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:18:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:18:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 93 episode 0/2 collected=0/2 +[05/24 16:18:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 93 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:20:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_93_ceiling.xml +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=93, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:20:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:20:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 93 episode 1/2 collected=1/2 +[05/24 16:20:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 93 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 16:21:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_93: 2 episodes +[05/24 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_93 +[05/24 16:21:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_93 in 5.32s (batch: 5.13s, save: 0.20s) +[05/24 16:21:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_93 +[05/24 16:21:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 93: 0/2 successful episodes +[05/24 16:21:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 107 (index 8/83) +[05/24 16:21:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 107 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:21:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_107_ceiling.xml +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=107, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:21:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 107 episode 0/2 collected=0/2 +[05/24 16:21:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 107 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 16:21:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_107_ceiling.xml +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=107, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 16:21:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 107 episode 1/2 collected=1/2 +[05/24 16:21:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 107 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 16:22:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_107: 2 episodes +[05/24 16:22:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 16:22:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_107 +[05/24 16:23:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_107 in 4.77s (batch: 4.66s, save: 0.11s) +[05/24 16:23:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_107 +[05/24 16:23:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 107: 1/2 successful episodes +[05/24 16:23:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 118 (index 9/83) +[05/24 16:23:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 118 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:23:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_118_ceiling.xml +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=118, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:23:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:23:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 118 episode 0/2 collected=0/2 +[05/24 16:23:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 118 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:24:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_118_ceiling.xml +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=118, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:24:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 16:24:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 118 episode 1/2 collected=1/2 +[05/24 16:24:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 118 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 16:24:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_118: 2 episodes +[05/24 16:24:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:24:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:24:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_118 +[05/24 16:24:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_118 in 4.66s (batch: 4.55s, save: 0.11s) +[05/24 16:24:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_118 +[05/24 16:24:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 118: 1/2 successful episodes +[05/24 16:24:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 119 (index 10/83) +[05/24 16:24:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 119 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:24:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_119_ceiling.xml +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=119, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:24:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 16:24:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 119 episode 0/1 collected=0/2 +[05/24 16:24:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 119 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=False +[05/24 16:26:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_119: 1 episodes +[05/24 16:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_119 +[05/24 16:26:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_119 in 2.55s (batch: 2.46s, save: 0.09s) +[05/24 16:26:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_119 +[05/24 16:26:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 119: 0/1 successful episodes +[05/24 16:26:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 137 (index 11/83) +[05/24 16:26:13 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 137 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:26:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_137_ceiling.xml +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=137, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:26:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:26:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 137 episode 0/2 collected=0/2 +[05/24 16:26:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 137 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:26:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_137_ceiling.xml +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=137, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:26:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 137 episode 1/2 collected=1/2 +[05/24 16:26:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 137 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 16:28:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_137: 2 episodes +[05/24 16:28:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 100 timesteps +[05/24 16:28:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_137 +[05/24 16:28:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_137 in 3.63s (batch: 3.50s, save: 0.13s) +[05/24 16:28:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_137 +[05/24 16:28:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 137: 1/2 successful episodes +[05/24 16:28:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 148 (index 12/83) +[05/24 16:28:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 148 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:28:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_148_ceiling.xml +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=148, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:28:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:28:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 148 episode 0/1 collected=0/2 +[05/24 16:28:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 148 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:29:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_148: 1 episodes +[05/24 16:29:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:41 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_148 +[05/24 16:29:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_148 in 2.47s (batch: 2.37s, save: 0.10s) +[05/24 16:29:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_148 +[05/24 16:29:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 148: 0/1 successful episodes +[05/24 16:29:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 163 (index 13/83) +[05/24 16:29:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 163 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:29:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_163_ceiling.xml +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=163, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:29:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:29:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 163 episode 0/1 collected=0/2 +[05/24 16:29:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 163 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=True +[05/24 16:29:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_163: 1 episodes +[05/24 16:29:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:29:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_163 +[05/24 16:29:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_163 in 2.32s (batch: 2.19s, save: 0.12s) +[05/24 16:30:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_163 +[05/24 16:30:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 163: 1/1 successful episodes +[05/24 16:30:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 171 (index 14/83) +[05/24 16:30:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 171 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:30:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_171_ceiling.xml +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=171, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:30:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:30:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 171 episode 0/2 collected=0/2 +[05/24 16:30:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 171 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:31:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_171_ceiling.xml +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=171, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:31:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:31:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 171 episode 1/2 collected=1/2 +[05/24 16:31:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 171 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:32:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_171: 2 episodes +[05/24 16:32:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 301 timesteps +[05/24 16:32:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_171 +[05/24 16:32:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_171 in 5.03s (batch: 4.88s, save: 0.15s) +[05/24 16:32:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_171 +[05/24 16:32:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 171: 1/2 successful episodes +[05/24 16:32:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 186 (index 15/83) +[05/24 16:32:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 186 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:32:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_186_ceiling.xml +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=186, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:32:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 16:32:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 186 episode 0/1 collected=0/2 +[05/24 16:32:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 186 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=False +[05/24 16:34:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_186: 1 episodes +[05/24 16:34:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:34:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_186 +[05/24 16:34:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_186 in 1.90s (batch: 1.81s, save: 0.09s) +[05/24 16:34:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_186 +[05/24 16:34:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 186: 0/1 successful episodes +[05/24 16:34:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 206 (index 16/83) +[05/24 16:34:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 206 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:34:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_206_ceiling.xml +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=206, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 16:34:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:34:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 206 episode 0/1 collected=0/2 +[05/24 16:34:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 206 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 16:35:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_206: 1 episodes +[05/24 16:35:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:35:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_206 +[05/24 16:35:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_206 in 1.63s (batch: 1.60s, save: 0.03s) +[05/24 16:35:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_206 +[05/24 16:35:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 206: 1/1 successful episodes +[05/24 16:35:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 218 (index 17/83) +[05/24 16:35:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 218 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:35:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_218_ceiling.xml +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=218, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:35:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:35:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 218 episode 0/2 collected=0/2 +[05/24 16:35:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 218 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:35:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_218_ceiling.xml +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=218, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:35:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte blue bowl' +[05/24 16:35:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 218 episode 1/2 collected=1/2 +[05/24 16:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 218 episode 1 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=True +[05/24 16:35:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_218: 2 episodes +[05/24 16:35:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:35:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:35:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:33 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_218 +[05/24 16:35:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_218 in 4.31s (batch: 4.26s, save: 0.05s) +[05/24 16:35:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_218 +[05/24 16:35:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 218: 2/2 successful episodes +[05/24 16:35:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 228 (index 18/83) +[05/24 16:35:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 228 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:35:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_228_ceiling.xml +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=228, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:35:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the salt shaker' +[05/24 16:35:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 228 episode 0/1 collected=0/2 +[05/24 16:35:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 228 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:36:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_228: 1 episodes +[05/24 16:36:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_228 +[05/24 16:36:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_228 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 16:36:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_228 +[05/24 16:36:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 228: 0/1 successful episodes +[05/24 16:36:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 237 (index 19/83) +[05/24 16:36:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 237 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:36:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_237_ceiling.xml +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:37:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 16:37:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 237 episode 0/2 collected=0/2 +[05/24 16:37:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 237 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_237_ceiling.xml +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=237, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:38:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:38:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 237 episode 1/2 collected=1/2 +[05/24 16:38:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 237 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:39:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_237: 2 episodes +[05/24 16:39:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_237 +[05/24 16:39:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_237 in 5.03s (batch: 4.86s, save: 0.17s) +[05/24 16:39:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_237 +[05/24 16:39:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 237: 0/2 successful episodes +[05/24 16:39:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 251 (index 20/83) +[05/24 16:39:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 251 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:39:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_251_ceiling.xml +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=251, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:39:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tableware' +[05/24 16:39:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 251 episode 0/1 collected=0/2 +[05/24 16:39:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 251 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_6 completed with success=False +[05/24 16:41:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_251: 1 episodes +[05/24 16:41:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_251 +[05/24 16:41:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_251 in 1.82s (batch: 1.73s, save: 0.08s) +[05/24 16:41:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_251 +[05/24 16:41:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 251: 0/1 successful episodes +[05/24 16:41:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 265 (index 21/83) +[05/24 16:41:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 265 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:41:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_265_ceiling.xml +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=265, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:41:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 16:41:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 265 episode 0/2 collected=0/2 +[05/24 16:41:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 265 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:41:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_265_ceiling.xml +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=265, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:41:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium red apple' +[05/24 16:41:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 265 episode 1/2 collected=1/2 +[05/24 16:41:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 265 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_6 completed with success=False +[05/24 16:42:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_265: 2 episodes +[05/24 16:42:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:42:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_265 +[05/24 16:42:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_265 in 3.62s (batch: 3.51s, save: 0.11s) +[05/24 16:42:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_265 +[05/24 16:42:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 265: 1/2 successful episodes +[05/24 16:42:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 271 (index 22/83) +[05/24 16:42:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 271 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:42:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_271_ceiling.xml +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=271, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:42:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:42:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 271 episode 0/1 collected=0/2 +[05/24 16:42:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 271 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:42:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_271: 1 episodes +[05/24 16:42:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:42:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_271 +[05/24 16:42:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_271 in 1.55s (batch: 1.52s, save: 0.03s) +[05/24 16:42:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_271 +[05/24 16:42:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 271: 1/1 successful episodes +[05/24 16:42:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 293 (index 23/83) +[05/24 16:42:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 293 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:42:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_293_ceiling.xml +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=293, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:42:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:42:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 293 episode 0/2 collected=0/2 +[05/24 16:42:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 293 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 16:44:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_293_ceiling.xml +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=293, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:44:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:44:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 293 episode 1/2 collected=1/2 +[05/24 16:44:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 293 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:45:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_293: 2 episodes +[05/24 16:45:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_293 +[05/24 16:45:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_293 in 5.05s (batch: 4.88s, save: 0.17s) +[05/24 16:45:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_293 +[05/24 16:45:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 293: 0/2 successful episodes +[05/24 16:45:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 297 (index 24/83) +[05/24 16:45:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 297 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:45:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_297_ceiling.xml +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=297, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:45:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cup' +[05/24 16:45:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 297 episode 0/1 collected=0/2 +[05/24 16:45:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 297 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_6 completed with success=True +[05/24 16:46:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_297: 1 episodes +[05/24 16:46:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:46:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_297 +[05/24 16:46:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_297 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 16:46:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_297 +[05/24 16:46:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 297: 1/1 successful episodes +[05/24 16:46:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 316 (index 25/83) +[05/24 16:46:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 316 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:46:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_316_ceiling.xml +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=316, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:46:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:46:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 316 episode 0/2 collected=0/2 +[05/24 16:46:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 316 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:47:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_316_ceiling.xml +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=316, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:47:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:47:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 316 episode 1/2 collected=1/2 +[05/24 16:47:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 316 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:48:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_316: 2 episodes +[05/24 16:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:45 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_316 +[05/24 16:48:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_316 in 4.74s (batch: 4.57s, save: 0.17s) +[05/24 16:48:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_316 +[05/24 16:48:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 316: 0/2 successful episodes +[05/24 16:48:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 322 (index 26/83) +[05/24 16:48:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 322 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:48:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_322_ceiling.xml +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=322, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:48:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:48:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 322 episode 0/1 collected=0/2 +[05/24 16:48:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 322 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:49:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_322: 1 episodes +[05/24 16:49:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:49:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_322 +[05/24 16:49:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_322 in 2.17s (batch: 2.14s, save: 0.03s) +[05/24 16:49:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_322 +[05/24 16:49:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 322: 1/1 successful episodes +[05/24 16:49:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 338 (index 27/83) +[05/24 16:49:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 338 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:49:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_338_ceiling.xml +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=338, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:49:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 16:49:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 338 episode 0/1 collected=0/2 +[05/24 16:49:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 338 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 16:49:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_338: 1 episodes +[05/24 16:49:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:49:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_338 +[05/24 16:49:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_338 in 2.23s (batch: 2.19s, save: 0.04s) +[05/24 16:49:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_338 +[05/24 16:49:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 338: 1/1 successful episodes +[05/24 16:49:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 339 (index 28/83) +[05/24 16:49:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 339 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:49:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_339_ceiling.xml +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=339, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 16:49:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:49:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 339 episode 0/2 collected=0/2 +[05/24 16:49:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 339 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:51:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_339_ceiling.xml +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=339, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 122 objects +[05/24 16:51:21 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 16:51:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the instrumentality' +[05/24 16:51:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 339 episode 1/2 collected=1/2 +[05/24 16:51:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 339 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_5 completed with success=True +[05/24 16:51:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_339: 2 episodes +[05/24 16:51:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 37 timesteps +[05/24 16:51:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:36 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_339 +[05/24 16:51:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_339 in 3.39s (batch: 3.28s, save: 0.11s) +[05/24 16:51:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_339 +[05/24 16:51:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 339: 1/2 successful episodes +[05/24 16:51:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 357 (index 29/83) +[05/24 16:51:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 357 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:51:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_357_ceiling.xml +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=357, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:51:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:51:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 357 episode 0/1 collected=0/2 +[05/24 16:51:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 357 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:51:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_357: 1 episodes +[05/24 16:51:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:51:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_357 +[05/24 16:51:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_357 in 2.26s (batch: 2.20s, save: 0.06s) +[05/24 16:51:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_357 +[05/24 16:51:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 357: 1/1 successful episodes +[05/24 16:51:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 368 (index 30/83) +[05/24 16:51:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 368 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:51:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_368_ceiling.xml +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=368, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:52:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 368 episode 0/2 collected=0/2 +[05/24 16:52:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 368 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 16:53:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_368_ceiling.xml +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=368, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:54:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 368 episode 1/2 collected=1/2 +[05/24 16:54:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 368 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_11 completed with success=True +[05/24 16:54:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_368: 2 episodes +[05/24 16:54:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:54:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_368 +[05/24 16:54:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_368 in 3.42s (batch: 3.30s, save: 0.13s) +[05/24 16:54:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_368 +[05/24 16:54:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 368: 1/2 successful episodes +[05/24 16:54:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 384 (index 31/83) +[05/24 16:54:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 384 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:54:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_384_ceiling.xml +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=384, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 16:54:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:54:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 384 episode 0/2 collected=0/2 +[05/24 16:54:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 16:55:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_384_ceiling.xml +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=384, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 78 objects +[05/24 16:56:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue translucent soap bottle with pump' +[05/24 16:56:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 384 episode 1/2 collected=1/2 +[05/24 16:56:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 384 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_6 completed with success=True +[05/24 16:56:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_384: 2 episodes +[05/24 16:56:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:56:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 222 timesteps +[05/24 16:56:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_384 +[05/24 16:56:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_384 in 3.53s (batch: 3.40s, save: 0.14s) +[05/24 16:56:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_384 +[05/24 16:56:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 384: 1/2 successful episodes +[05/24 16:56:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 388 (index 32/83) +[05/24 16:56:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 388 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:56:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_388_ceiling.xml +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=388, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:56:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 16:56:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 388 episode 0/1 collected=0/2 +[05/24 16:56:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 388 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=True +[05/24 16:57:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_388: 1 episodes +[05/24 16:57:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:57:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_388 +[05/24 16:57:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_388 in 2.15s (batch: 2.12s, save: 0.03s) +[05/24 16:57:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_388 +[05/24 16:57:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 388: 1/1 successful episodes +[05/24 16:57:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 403 (index 33/83) +[05/24 16:57:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 403 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:57:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_403_ceiling.xml +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=403, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 120 objects +[05/24 16:57:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:57:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 403 episode 0/2 collected=0/2 +[05/24 16:57:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 403 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_5 completed with success=True +[05/24 16:57:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_403_ceiling.xml +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=403, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 120 objects +[05/24 16:58:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:58:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 403 episode 1/2 collected=1/2 +[05/24 16:58:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 403 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_3_0_8 completed with success=True +[05/24 16:58:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_403: 2 episodes +[05/24 16:58:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 160 timesteps +[05/24 16:58:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:58:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_403 +[05/24 16:58:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_403 in 4.45s (batch: 4.37s, save: 0.08s) +[05/24 16:58:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_403 +[05/24 16:58:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 403: 2/2 successful episodes +[05/24 16:58:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 411 (index 34/83) +[05/24 16:58:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 411 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:58:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_411_ceiling.xml +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=411, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:58:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:58:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 411 episode 0/1 collected=0/2 +[05/24 16:58:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 411 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 16:58:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_411: 1 episodes +[05/24 16:58:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:58:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_411 +[05/24 16:58:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_411 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 16:58:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_411 +[05/24 16:58:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 411: 1/1 successful episodes +[05/24 16:58:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 431 (index 35/83) +[05/24 16:58:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 431 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:58:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_431_ceiling.xml +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=431, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:58:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:58:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 431 episode 0/1 collected=0/2 +[05/24 16:58:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 431 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:59:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_431: 1 episodes +[05/24 16:59:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/24 16:59:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_431 +[05/24 16:59:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_431 in 2.25s (batch: 2.21s, save: 0.04s) +[05/24 16:59:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_431 +[05/24 16:59:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 431: 1/1 successful episodes +[05/24 16:59:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 433 (index 36/83) +[05/24 16:59:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 433 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 16:59:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_433_ceiling.xml +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=433, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:59:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 16:59:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 433 episode 0/2 collected=0/2 +[05/24 16:59:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 433 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:00:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_433_ceiling.xml +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=433, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:00:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:00:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 433 episode 1/2 collected=1/2 +[05/24 17:00:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 433 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:00:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_433: 2 episodes +[05/24 17:00:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 17:00:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_433 +[05/24 17:00:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_433 in 4.59s (batch: 4.47s, save: 0.12s) +[05/24 17:00:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_433 +[05/24 17:00:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 433: 1/2 successful episodes +[05/24 17:00:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 459 (index 37/83) +[05/24 17:00:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 459 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:00:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_459_ceiling.xml +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=459, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:00:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 17:00:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 459 episode 0/1 collected=0/2 +[05/24 17:00:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 459 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=False +[05/24 17:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_459: 1 episodes +[05/24 17:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_459 +[05/24 17:02:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_459 in 2.62s (batch: 2.53s, save: 0.09s) +[05/24 17:02:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_459 +[05/24 17:02:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 459: 0/1 successful episodes +[05/24 17:02:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 461 (index 38/83) +[05/24 17:02:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 461 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:02:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_461_ceiling.xml +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=461, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:02:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:02:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 461 episode 0/2 collected=0/2 +[05/24 17:02:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 461 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:02:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_461_ceiling.xml +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=461, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:02:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:02:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 461 episode 1/2 collected=1/2 +[05/24 17:02:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 461 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_2 completed with success=True +[05/24 17:03:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_461: 2 episodes +[05/24 17:03:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 249 timesteps +[05/24 17:03:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_461 +[05/24 17:03:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_461 in 4.42s (batch: 4.34s, save: 0.08s) +[05/24 17:03:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_461 +[05/24 17:03:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 461: 2/2 successful episodes +[05/24 17:03:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 484 (index 39/83) +[05/24 17:03:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 484 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:03:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_484_ceiling.xml +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=484, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:03:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:03:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 484 episode 0/1 collected=0/2 +[05/24 17:03:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 484 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:03:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_484: 1 episodes +[05/24 17:03:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 229 timesteps +[05/24 17:03:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_484 +[05/24 17:03:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_484 in 1.68s (batch: 1.63s, save: 0.06s) +[05/24 17:03:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_484 +[05/24 17:03:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 484: 1/1 successful episodes +[05/24 17:03:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 485 (index 40/83) +[05/24 17:03:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 485 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_485_ceiling.xml +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=485, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:04:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 17:04:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 485 episode 0/2 collected=0/2 +[05/24 17:04:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 485 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 17:04:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_485_ceiling.xml +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=485, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:04:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:04:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 485 episode 1/2 collected=1/2 +[05/24 17:04:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 485 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=True +[05/24 17:04:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_485: 2 episodes +[05/24 17:04:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:04:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 66 timesteps +[05/24 17:04:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:42 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_485 +[05/24 17:04:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_485 in 4.37s (batch: 4.31s, save: 0.06s) +[05/24 17:04:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_485 +[05/24 17:04:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 485: 2/2 successful episodes +[05/24 17:04:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 500 (index 41/83) +[05/24 17:04:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 500 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:04:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_500_ceiling.xml +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=500, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:04:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:04:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 500 episode 0/1 collected=0/2 +[05/24 17:04:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 500 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 17:05:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_500: 1 episodes +[05/24 17:05:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_500 +[05/24 17:06:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_500 in 2.52s (batch: 2.43s, save: 0.09s) +[05/24 17:06:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_500 +[05/24 17:06:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 500: 0/1 successful episodes +[05/24 17:06:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 520 (index 42/83) +[05/24 17:06:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 520 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:06:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_520_ceiling.xml +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=520, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:06:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:06:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 520 episode 0/1 collected=0/2 +[05/24 17:06:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 520 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:06:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_520: 1 episodes +[05/24 17:06:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:06:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_520 +[05/24 17:06:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_520 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:06:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_520 +[05/24 17:06:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 520: 1/1 successful episodes +[05/24 17:06:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 526 (index 43/83) +[05/24 17:06:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 526 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:06:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_526_ceiling.xml +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=526, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:06:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:06:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 526 episode 0/2 collected=0/2 +[05/24 17:06:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 526 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=True +[05/24 17:06:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_526_ceiling.xml +[05/24 17:06:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=526, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:06:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:06:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 526 episode 1/2 collected=1/2 +[05/24 17:06:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 526 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 17:08:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_526: 2 episodes +[05/24 17:08:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 109 timesteps +[05/24 17:08:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_526 +[05/24 17:08:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_526 in 4.66s (batch: 4.54s, save: 0.12s) +[05/24 17:08:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_526 +[05/24 17:08:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 526: 1/2 successful episodes +[05/24 17:08:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 538 (index 44/83) +[05/24 17:08:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 538 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:08:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_538_ceiling.xml +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=538, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:08:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent plastic cup' +[05/24 17:08:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 538 episode 0/1 collected=0/2 +[05/24 17:08:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 538 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=True +[05/24 17:09:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_538: 1 episodes +[05/24 17:09:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 390 timesteps +[05/24 17:09:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_538 +[05/24 17:09:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_538 in 1.83s (batch: 1.75s, save: 0.08s) +[05/24 17:09:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_538 +[05/24 17:09:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 538: 1/1 successful episodes +[05/24 17:09:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 546 (index 45/83) +[05/24 17:09:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 546 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:09:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_546_ceiling.xml +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=546, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:09:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:09:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 546 episode 0/2 collected=0/2 +[05/24 17:09:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 546 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 17:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_546_ceiling.xml +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=546, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:10:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the bowl' +[05/24 17:10:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 546 episode 1/2 collected=1/2 +[05/24 17:10:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 546 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_2_0_6 completed with success=False +[05/24 17:11:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_546: 2 episodes +[05/24 17:11:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:11:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:11:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_546 +[05/24 17:11:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_546 in 4.61s (batch: 4.49s, save: 0.12s) +[05/24 17:11:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_546 +[05/24 17:11:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 546: 1/2 successful episodes +[05/24 17:11:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 559 (index 46/83) +[05/24 17:11:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 559 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:11:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_559_ceiling.xml +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=559, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:11:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper box' +[05/24 17:11:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 559 episode 0/2 collected=0/2 +[05/24 17:11:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 559 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:13:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_559_ceiling.xml +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=559, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 17:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 559 episode 1/2 collected=1/2 +[05/24 17:13:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 559 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_5 completed with success=False +[05/24 17:14:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_559: 2 episodes +[05/24 17:14:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_559 +[05/24 17:14:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_559 in 3.74s (batch: 3.58s, save: 0.17s) +[05/24 17:14:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_559 +[05/24 17:14:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 559: 0/2 successful episodes +[05/24 17:14:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 564 (index 47/83) +[05/24 17:14:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 564 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:14:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_564_ceiling.xml +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=564, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:14:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife' +[05/24 17:14:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 564 episode 0/1 collected=0/2 +[05/24 17:14:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 564 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=True +[05/24 17:15:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_564: 1 episodes +[05/24 17:15:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 83 timesteps +[05/24 17:15:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_564 +[05/24 17:15:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_564 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 17:15:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_564 +[05/24 17:15:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 564: 1/1 successful episodes +[05/24 17:15:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 579 (index 48/83) +[05/24 17:15:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 579 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:15:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_579_ceiling.xml +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=579, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:15:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:15:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 579 episode 0/2 collected=0/2 +[05/24 17:15:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 17:15:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_579_ceiling.xml +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=579, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:15:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:15:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 579 episode 1/2 collected=1/2 +[05/24 17:15:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 579 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_3_0_6 completed with success=False +[05/24 17:17:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_579: 2 episodes +[05/24 17:17:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:17:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_579 +[05/24 17:17:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_579 in 3.55s (batch: 3.44s, save: 0.11s) +[05/24 17:17:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_579 +[05/24 17:17:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 579: 1/2 successful episodes +[05/24 17:17:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 584 (index 49/83) +[05/24 17:17:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 584 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:17:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_584_ceiling.xml +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=584, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:17:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shallow wooden bowl' +[05/24 17:17:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 584 episode 0/1 collected=0/2 +[05/24 17:17:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 584 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6 completed with success=True +[05/24 17:17:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_584: 1 episodes +[05/24 17:17:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/24 17:17:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_584 +[05/24 17:17:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_584 in 1.66s (batch: 1.62s, save: 0.04s) +[05/24 17:17:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_584 +[05/24 17:17:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 584: 1/1 successful episodes +[05/24 17:17:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 607 (index 50/83) +[05/24 17:17:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 607 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:17:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_607_ceiling.xml +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=607, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 17:17:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:17:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 607 episode 0/1 collected=0/2 +[05/24 17:17:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 607 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 17:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_607: 1 episodes +[05/24 17:19:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_607 +[05/24 17:19:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_607 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_607 +[05/24 17:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 607: 0/1 successful episodes +[05/24 17:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 613 (index 51/83) +[05/24 17:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 613 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_613_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=613, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 613 episode 0/2 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 613 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:20:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_613_ceiling.xml +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=613, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:20:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:20:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 613 episode 1/2 collected=1/2 +[05/24 17:20:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 613 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:22:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_613: 2 episodes +[05/24 17:22:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:22:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:22:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_613 +[05/24 17:22:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_613 in 5.07s (batch: 4.90s, save: 0.17s) +[05/24 17:22:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_613 +[05/24 17:22:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 613: 0/2 successful episodes +[05/24 17:22:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 627 (index 52/83) +[05/24 17:22:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 627 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:22:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_627_ceiling.xml +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=627, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:22:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 627 episode 0/1 collected=0/2 +[05/24 17:22:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 627 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 17:23:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_627: 1 episodes +[05/24 17:23:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_627 +[05/24 17:23:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_627 in 2.48s (batch: 2.39s, save: 0.09s) +[05/24 17:23:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_627 +[05/24 17:23:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 627: 0/1 successful episodes +[05/24 17:23:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 635 (index 53/83) +[05/24 17:23:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 635 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:23:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_635_ceiling.xml +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=635, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:23:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:23:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 635 episode 0/2 collected=0/2 +[05/24 17:23:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 17:24:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_635_ceiling.xml +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=635, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:24:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:24:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 635 episode 1/2 collected=1/2 +[05/24 17:24:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 635 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=True +[05/24 17:24:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_635: 2 episodes +[05/24 17:24:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:24:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:24:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_635 +[05/24 17:24:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_635 in 3.85s (batch: 3.79s, save: 0.06s) +[05/24 17:24:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_635 +[05/24 17:24:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 635: 2/2 successful episodes +[05/24 17:24:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 652 (index 54/83) +[05/24 17:24:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 652 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:24:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_652_ceiling.xml +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=652, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:24:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:24:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 652 episode 0/2 collected=0/2 +[05/24 17:24:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 652 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:25:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_652_ceiling.xml +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=652, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:25:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:25:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 652 episode 1/2 collected=1/2 +[05/24 17:25:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 652 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 17:26:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_652: 2 episodes +[05/24 17:26:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:26:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_652 +[05/24 17:26:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_652 in 3.44s (batch: 3.31s, save: 0.13s) +[05/24 17:26:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_652 +[05/24 17:26:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 652: 1/2 successful episodes +[05/24 17:26:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 660 (index 55/83) +[05/24 17:26:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 660 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:26:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_660_ceiling.xml +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=660, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:26:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 17:26:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 660 episode 0/1 collected=0/2 +[05/24 17:26:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 660 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:26:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_660: 1 episodes +[05/24 17:26:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 142 timesteps +[05/24 17:26:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_660 +[05/24 17:26:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_660 in 1.63s (batch: 1.59s, save: 0.04s) +[05/24 17:26:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_660 +[05/24 17:26:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 660: 1/1 successful episodes +[05/24 17:26:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 674 (index 56/83) +[05/24 17:26:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 674 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:26:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_674_ceiling.xml +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=674, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:26:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 17:26:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 674 episode 0/1 collected=0/2 +[05/24 17:26:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 674 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_2_0_5 completed with success=True +[05/24 17:27:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_674: 1 episodes +[05/24 17:27:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:27:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_674 +[05/24 17:27:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_674 in 1.56s (batch: 1.53s, save: 0.03s) +[05/24 17:27:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_674 +[05/24 17:27:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 674: 1/1 successful episodes +[05/24 17:27:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 681 (index 57/83) +[05/24 17:27:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 681 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:27:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_681_ceiling.xml +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=681, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:27:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 17:27:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 681 episode 0/2 collected=0/2 +[05/24 17:27:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 681 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:27:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_681_ceiling.xml +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=681, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:27:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 17:27:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 681 episode 1/2 collected=1/2 +[05/24 17:27:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 681 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_8 completed with success=True +[05/24 17:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_681: 2 episodes +[05/24 17:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 129 timesteps +[05/24 17:27:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_681 +[05/24 17:27:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_681 in 4.46s (batch: 4.39s, save: 0.07s) +[05/24 17:27:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_681 +[05/24 17:27:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 681: 2/2 successful episodes +[05/24 17:27:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 696 (index 58/83) +[05/24 17:27:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 696 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:27:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_696_ceiling.xml +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=696, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:28:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper box' +[05/24 17:28:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 696 episode 0/1 collected=0/2 +[05/24 17:28:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 696 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=True +[05/24 17:28:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_696: 1 episodes +[05/24 17:28:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:28:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_696 +[05/24 17:28:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_696 in 2.23s (batch: 2.21s, save: 0.03s) +[05/24 17:28:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_696 +[05/24 17:28:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 696: 1/1 successful episodes +[05/24 17:28:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 718 (index 59/83) +[05/24 17:28:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 718 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:28:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_718_ceiling.xml +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=718, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 87 objects +[05/24 17:28:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:28:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 718 episode 0/1 collected=0/2 +[05/24 17:28:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 718 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:29:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_718: 1 episodes +[05/24 17:29:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 268 timesteps +[05/24 17:29:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_718 +[05/24 17:29:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_718 in 2.31s (batch: 2.25s, save: 0.06s) +[05/24 17:29:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_718 +[05/24 17:29:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 718: 1/1 successful episodes +[05/24 17:29:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 729 (index 60/83) +[05/24 17:29:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 729 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:29:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_729_ceiling.xml +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=729, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:29:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:29:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 729 episode 0/2 collected=0/2 +[05/24 17:29:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 17:29:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_729_ceiling.xml +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=729, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:29:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 729 episode 1/2 collected=1/2 +[05/24 17:29:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 729 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 17:29:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_729: 2 episodes +[05/24 17:29:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:29:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:29:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_729 +[05/24 17:29:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_729 in 3.16s (batch: 3.10s, save: 0.06s) +[05/24 17:29:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_729 +[05/24 17:29:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 729: 2/2 successful episodes +[05/24 17:29:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 735 (index 61/83) +[05/24 17:29:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 735 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:29:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_735_ceiling.xml +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=735, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:29:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:29:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 735 episode 0/1 collected=0/2 +[05/24 17:29:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 735 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:30:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_735: 1 episodes +[05/24 17:30:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_735 +[05/24 17:30:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_735 in 1.87s (batch: 1.78s, save: 0.09s) +[05/24 17:30:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_735 +[05/24 17:30:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 735: 0/1 successful episodes +[05/24 17:30:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 751 (index 62/83) +[05/24 17:30:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 751 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:30:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_751_ceiling.xml +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=751, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:31:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small shiny red apple with stem' +[05/24 17:31:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 751 episode 0/2 collected=0/2 +[05/24 17:31:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 751 episode 0 object apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6 completed with success=False +[05/24 17:32:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_751_ceiling.xml +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=751, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:32:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:32:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 751 episode 1/2 collected=1/2 +[05/24 17:32:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 751 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:33:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_751: 2 episodes +[05/24 17:33:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_751 +[05/24 17:33:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_751 in 4.76s (batch: 4.59s, save: 0.17s) +[05/24 17:33:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_751 +[05/24 17:33:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 751: 0/2 successful episodes +[05/24 17:33:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 756 (index 63/83) +[05/24 17:33:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 756 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:33:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_756_ceiling.xml +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=756, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:33:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:33:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 756 episode 0/1 collected=0/2 +[05/24 17:33:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 756 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:35:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_756: 1 episodes +[05/24 17:35:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:35:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:13 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_756 +[05/24 17:35:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_756 in 2.46s (batch: 2.36s, save: 0.09s) +[05/24 17:35:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_756 +[05/24 17:35:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 756: 0/1 successful episodes +[05/24 17:35:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 779 (index 64/83) +[05/24 17:35:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 779 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:35:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_779_ceiling.xml +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=779, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:35:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 779 episode 0/1 collected=0/2 +[05/24 17:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 779 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_4 completed with success=True +[05/24 17:35:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_779: 1 episodes +[05/24 17:35:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 17:35:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_779 +[05/24 17:35:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_779 in 2.23s (batch: 2.20s, save: 0.03s) +[05/24 17:35:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_779 +[05/24 17:35:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 779: 1/1 successful episodes +[05/24 17:35:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 780 (index 65/83) +[05/24 17:35:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 780 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:35:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_780_ceiling.xml +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=780, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 17:35:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 780 episode 0/2 collected=0/2 +[05/24 17:35:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 780 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:35:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_780_ceiling.xml +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=780, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:35:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 780 episode 1/2 collected=1/2 +[05/24 17:35:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 780 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 17:37:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_780: 2 episodes +[05/24 17:37:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:37:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_780 +[05/24 17:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_780 in 3.59s (batch: 3.49s, save: 0.11s) +[05/24 17:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_780 +[05/24 17:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 780: 1/2 successful episodes +[05/24 17:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 802 (index 66/83) +[05/24 17:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 802 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_802_ceiling.xml +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=802, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 17:37:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:37:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 802 episode 0/1 collected=0/2 +[05/24 17:37:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 802 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:37:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_802: 1 episodes +[05/24 17:37:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:37:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_802 +[05/24 17:37:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_802 in 2.32s (batch: 2.24s, save: 0.08s) +[05/24 17:37:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_802 +[05/24 17:37:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 802: 1/1 successful episodes +[05/24 17:37:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 817 (index 67/83) +[05/24 17:37:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 817 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_817_ceiling.xml +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=817, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:37:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 17:37:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 817 episode 0/2 collected=0/2 +[05/24 17:37:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:37:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 817 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:38:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_817_ceiling.xml +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=817, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:38:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:38:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 817 episode 1/2 collected=1/2 +[05/24 17:38:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 817 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=False +[05/24 17:39:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_817: 2 episodes +[05/24 17:39:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_817 +[05/24 17:40:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_817 in 4.12s (batch: 3.95s, save: 0.16s) +[05/24 17:40:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_817 +[05/24 17:40:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 817: 0/2 successful episodes +[05/24 17:40:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 833 (index 68/83) +[05/24 17:40:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 833 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:40:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_833_ceiling.xml +[05/24 17:40:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=833, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:40:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 17:40:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 833 episode 0/1 collected=0/2 +[05/24 17:40:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 833 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_3 completed with success=False +[05/24 17:41:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_833: 1 episodes +[05/24 17:41:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_833 +[05/24 17:41:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_833 in 1.78s (batch: 1.70s, save: 0.08s) +[05/24 17:41:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_833 +[05/24 17:41:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 833: 0/1 successful episodes +[05/24 17:41:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 836 (index 69/83) +[05/24 17:41:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 836 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:41:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_836_ceiling.xml +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=836, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:41:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:41:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 836 episode 0/2 collected=0/2 +[05/24 17:41:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 836 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:41:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_836_ceiling.xml +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=836, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:42:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dish' +[05/24 17:42:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 836 episode 1/2 collected=1/2 +[05/24 17:42:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 836 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 17:43:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_836: 2 episodes +[05/24 17:43:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_836 +[05/24 17:43:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_836 in 4.71s (batch: 4.59s, save: 0.12s) +[05/24 17:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_836 +[05/24 17:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 836: 1/2 successful episodes +[05/24 17:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 853 (index 70/83) +[05/24 17:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 853 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_853_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=853, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 853 episode 0/2 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:44:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_853_ceiling.xml +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=853, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:44:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 17:44:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 853 episode 1/2 collected=1/2 +[05/24 17:44:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 853 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=False +[05/24 17:46:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_853: 2 episodes +[05/24 17:46:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_853 +[05/24 17:46:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_853 in 4.94s (batch: 4.76s, save: 0.18s) +[05/24 17:46:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_853 +[05/24 17:46:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 853: 0/2 successful episodes +[05/24 17:46:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 873 (index 71/83) +[05/24 17:46:08 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 873 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:46:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_873_ceiling.xml +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=873, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:46:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 873 episode 0/1 collected=0/2 +[05/24 17:46:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 873 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 17:46:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_873: 1 episodes +[05/24 17:46:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:46:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_873 +[05/24 17:46:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_873 in 1.58s (batch: 1.55s, save: 0.03s) +[05/24 17:46:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_873 +[05/24 17:46:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 873: 1/1 successful episodes +[05/24 17:46:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 878 (index 72/83) +[05/24 17:46:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 878 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:46:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_878_ceiling.xml +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=878, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:46:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:46:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 878 episode 0/2 collected=0/2 +[05/24 17:46:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 878 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_4 completed with success=True +[05/24 17:46:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_878_ceiling.xml +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=878, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:46:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:46:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 878 episode 1/2 collected=1/2 +[05/24 17:46:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 878 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:47:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_878: 2 episodes +[05/24 17:47:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:48:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_878 +[05/24 17:48:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_878 in 4.67s (batch: 4.56s, save: 0.11s) +[05/24 17:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_878 +[05/24 17:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 878: 1/2 successful episodes +[05/24 17:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 893 (index 73/83) +[05/24 17:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 893 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_893_ceiling.xml +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=893, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:48:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:48:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 893 episode 0/2 collected=0/2 +[05/24 17:48:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 893 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 17:48:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_893_ceiling.xml +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=893, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:48:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:48:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 893 episode 1/2 collected=1/2 +[05/24 17:48:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 893 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 17:48:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_893: 2 episodes +[05/24 17:48:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 120 timesteps +[05/24 17:48:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_893 +[05/24 17:48:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_893 in 4.42s (batch: 4.35s, save: 0.06s) +[05/24 17:48:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_893 +[05/24 17:48:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 893: 2/2 successful episodes +[05/24 17:48:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 906 (index 74/83) +[05/24 17:48:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 906 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:48:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_906_ceiling.xml +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=906, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:48:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow bowl' +[05/24 17:48:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 906 episode 0/1 collected=0/2 +[05/24 17:48:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 906 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_2_0_7 completed with success=True +[05/24 17:49:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_906: 1 episodes +[05/24 17:49:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 17:49:08 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:08 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_906 +[05/24 17:49:08 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_906 in 2.18s (batch: 2.15s, save: 0.03s) +[05/24 17:49:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_906 +[05/24 17:49:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 906: 1/1 successful episodes +[05/24 17:49:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 907 (index 75/83) +[05/24 17:49:09 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 907 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:49:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_907_ceiling.xml +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=907, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:49:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork' +[05/24 17:49:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 907 episode 0/2 collected=0/2 +[05/24 17:49:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 907 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:50:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_907_ceiling.xml +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=907, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:50:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 17:50:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 907 episode 1/2 collected=1/2 +[05/24 17:50:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 907 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 17:52:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_907: 2 episodes +[05/24 17:52:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_907 +[05/24 17:52:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_907 in 3.89s (batch: 3.72s, save: 0.17s) +[05/24 17:52:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_907 +[05/24 17:52:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 907: 0/2 successful episodes +[05/24 17:52:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 929 (index 76/83) +[05/24 17:52:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 929 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:52:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_929_ceiling.xml +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=929, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:52:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:52:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 929 episode 0/2 collected=0/2 +[05/24 17:52:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 929 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=True +[05/24 17:52:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_929_ceiling.xml +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=929, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:52:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 929 episode 1/2 collected=1/2 +[05/24 17:52:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 929 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 17:53:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_929: 2 episodes +[05/24 17:53:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:53:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_929 +[05/24 17:54:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_929 in 3.54s (batch: 3.42s, save: 0.12s) +[05/24 17:54:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_929 +[05/24 17:54:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 929: 1/2 successful episodes +[05/24 17:54:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 931 (index 77/83) +[05/24 17:54:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 931 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:54:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_931_ceiling.xml +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=931, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:54:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent soap bottle with bronze pump' +[05/24 17:54:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 931 episode 0/1 collected=0/2 +[05/24 17:54:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 931 episode 0 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_6 completed with success=True +[05/24 17:54:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_931: 1 episodes +[05/24 17:54:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:54:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_931 +[05/24 17:54:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_931 in 2.20s (batch: 2.16s, save: 0.04s) +[05/24 17:54:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_931 +[05/24 17:54:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 931: 1/1 successful episodes +[05/24 17:54:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 948 (index 78/83) +[05/24 17:54:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 948 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:54:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_948_ceiling.xml +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=948, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:54:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:54:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 948 episode 0/1 collected=0/2 +[05/24 17:54:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 948 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:55:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_948: 1 episodes +[05/24 17:55:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_948 +[05/24 17:55:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_948 in 1.82s (batch: 1.74s, save: 0.08s) +[05/24 17:55:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_948 +[05/24 17:55:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 948: 0/1 successful episodes +[05/24 17:55:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 958 (index 79/83) +[05/24 17:55:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 958 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:55:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_958_ceiling.xml +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=958, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:55:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple' +[05/24 17:55:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 958 episode 0/2 collected=0/2 +[05/24 17:55:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 958 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 17:57:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_958_ceiling.xml +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=958, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 958 episode 1/2 collected=1/2 +[05/24 17:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 958 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 17:57:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_958: 2 episodes +[05/24 17:57:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:57:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:57:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_958 +[05/24 17:57:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_958 in 4.56s (batch: 4.45s, save: 0.11s) +[05/24 17:57:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_958 +[05/24 17:57:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 958: 1/2 successful episodes +[05/24 17:57:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 969 (index 80/83) +[05/24 17:57:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 969 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_969_ceiling.xml +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=969, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:57:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:57:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 969 episode 0/2 collected=0/2 +[05/24 17:57:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 969 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:58:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_969_ceiling.xml +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=969, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:58:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle with handle' +[05/24 17:58:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 969 episode 1/2 collected=1/2 +[05/24 17:58:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 969 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 17:58:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_969: 2 episodes +[05/24 17:58:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:58:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 85 timesteps +[05/24 17:58:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_969 +[05/24 17:58:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_969 in 3.24s (batch: 3.17s, save: 0.06s) +[05/24 17:58:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_969 +[05/24 17:58:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 969: 2/2 successful episodes +[05/24 17:58:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 979 (index 81/83) +[05/24 17:58:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 979 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 17:58:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_979_ceiling.xml +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=979, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects +[05/24 17:58:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:58:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 979 episode 0/1 collected=0/2 +[05/24 17:58:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 979 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=False +[05/24 18:00:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_979: 1 episodes +[05/24 18:00:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:00:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:00:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_979 +[05/24 18:00:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_979 in 1.85s (batch: 1.75s, save: 0.10s) +[05/24 18:00:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_979 +[05/24 18:00:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 979: 0/1 successful episodes +[05/24 18:00:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 991 (index 82/83) +[05/24 18:00:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 991 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_03 +[05/24 18:00:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_991_ceiling.xml +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=991, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 18:00:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 18:00:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 991 episode 0/2 collected=0/2 +[05/24 18:00:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 991 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_11 completed with success=False +[05/24 18:01:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_991_ceiling.xml +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=991, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 18:01:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 18:01:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 991 episode 1/2 collected=1/2 +[05/24 18:01:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:01:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 991 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 18:03:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_991: 2 episodes +[05/24 18:03:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_991 +[05/24 18:03:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_991 in 4.89s (batch: 4.71s, save: 0.18s) +[05/24 18:03:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_991 +[05/24 18:03:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 991: 0/2 successful episodes +[05/24 18:03:19 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:03:20 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:03:20 INFO pipeline.py:1499] Success count: 64, Total count: 125 +[05/24 18:03:20 INFO pipeline.py:1500] Success rate: 51.20% +Combined 125 episodes from 83 files → /tmp/tmp4_vydajs.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv at-end: 51.2% | oracle: 51.2% of 125 episodes +[2026-05-24 18:03:28,862] INFO MolmoSpaces simulator eval finished: success=64/125 rate=0.5120 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval +[2026-05-24 18:03:28,862] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_03/run_command.sh diff --git a/pick_msproc/pick_msproc/submission/shard_04.launcher.log b/pick_msproc/pick_msproc/submission/shard_04.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..09ce78caf291c13d38d4379fffb5ffbce9ea1a23 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_04.launcher.log @@ -0,0 +1,2989 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,452] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,506] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,541] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 (source=arg) +[2026-05-24 15:59:56,732] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,058] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:44,009] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:44,009] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,393] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,447] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,495] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [10, + 27, + 42, + 54, + 58, + 80, + 83, + 94, + 108, + 122, + 123, + 143, + 149, + 165, + 176, + 190, + 207, + 220, + 235, + 239, + 252, + 266, + 273, + 298, + 302, + 318, + 324, + 341, + 344, + 359, + 372, + 385, + 396, + 409, + 414, + 436, + 437, + 464, + 466, + 487, + 488, + 501, + 521, + 533, + 539, + 547, + 562, + 565, + 580, + 587, + 608, + 615, + 628, + 637, + 658, + 661, + 680, + 690, + 698, + 719, + 732, + 740, + 757, + 763, + 781, + 790, + 803, + 821, + 838, + 840, + 855, + 879, + 880, + 894, + 910, + 911, + 934, + 935, + 949, + 959, + 970, + 980, + 995], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,501] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 10 (index 0/83) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 10 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:48,894:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:48,894] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_10_ceiling.xml +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=10, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:04:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:04:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 10 episode 0/2 collected=0/2 +[05/24 16:04:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:51.135 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:10,234] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:10,711] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:15,846] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:20,419] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:20,423] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 10 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=False +[05/24 16:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_10_ceiling.xml +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=10, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:07:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:07:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 10 episode 1/2 collected=1/2 +[05/24 16:07:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 10 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 16:09:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_10: 2 episodes +[05/24 16:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_10 +[05/24 16:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_10 in 3.80s (batch: 3.64s, save: 0.17s) +[05/24 16:09:08 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_10 +[05/24 16:09:08 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 10: 0/2 successful episodes +[05/24 16:09:08 Worker 0 INFO pipeline.py:473] Worker 0 starting house 27 (index 1/83) +[05/24 16:09:08 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 27 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:09:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_27_ceiling.xml +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=27, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:09:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper shaker' +[05/24 16:09:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 27 episode 0/2 collected=0/2 +[05/24 16:09:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 27 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=True +[05/24 16:09:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_27_ceiling.xml +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=27, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:09:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:09:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 27 episode 1/2 collected=1/2 +[05/24 16:09:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 27 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:10:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_27: 2 episodes +[05/24 16:10:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:10:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_27 +[05/24 16:10:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_27 in 4.71s (batch: 4.60s, save: 0.11s) +[05/24 16:10:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_27 +[05/24 16:10:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 27: 1/2 successful episodes +[05/24 16:10:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 42 (index 2/83) +[05/24 16:10:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 42 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:10:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_42_ceiling.xml +[05/24 16:10:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=42, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 114 objects +[05/24 16:11:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black mug' +[05/24 16:11:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 42 episode 0/1 collected=0/2 +[05/24 16:11:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 42 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 16:11:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_42: 1 episodes +[05/24 16:11:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 16:11:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_42 +[05/24 16:11:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_42 in 2.18s (batch: 2.16s, save: 0.03s) +[05/24 16:11:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_42 +[05/24 16:11:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 42: 1/1 successful episodes +[05/24 16:11:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 54 (index 3/83) +[05/24 16:11:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 54 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:11:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_54_ceiling.xml +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=54, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:11:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 16:11:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 54 episode 0/1 collected=0/2 +[05/24 16:11:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 54 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 16:11:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_54: 1 episodes +[05/24 16:11:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:11:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_54 +[05/24 16:11:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_54 in 1.66s (batch: 1.63s, save: 0.03s) +[05/24 16:11:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_54 +[05/24 16:11:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 54: 1/1 successful episodes +[05/24 16:11:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 58 (index 4/83) +[05/24 16:11:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 58 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:11:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_58_ceiling.xml +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=58, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:11:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:11:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 58 episode 0/2 collected=0/2 +[05/24 16:11:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 58 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=False +[05/24 16:13:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_58_ceiling.xml +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=58, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:13:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 16:13:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 58 episode 1/2 collected=1/2 +[05/24 16:13:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 58 episode 1 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 16:13:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_58: 2 episodes +[05/24 16:13:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:13:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_58 +[05/24 16:13:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_58 in 4.65s (batch: 4.54s, save: 0.11s) +[05/24 16:13:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_58 +[05/24 16:13:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 58: 1/2 successful episodes +[05/24 16:13:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 80 (index 5/83) +[05/24 16:13:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 80 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:13:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_80_ceiling.xml +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=80, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:13:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:13:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 80 episode 0/1 collected=0/2 +[05/24 16:13:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 80 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 16:13:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_80: 1 episodes +[05/24 16:13:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/24 16:13:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_80 +[05/24 16:13:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_80 in 2.32s (batch: 2.27s, save: 0.05s) +[05/24 16:13:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_80 +[05/24 16:13:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 80: 1/1 successful episodes +[05/24 16:13:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 83 (index 6/83) +[05/24 16:13:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 83 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_83_ceiling.xml +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=83, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:13:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 16:13:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 83 episode 0/2 collected=0/2 +[05/24 16:13:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 83 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 16:15:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_83_ceiling.xml +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=83, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:15:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:15:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 83 episode 1/2 collected=1/2 +[05/24 16:15:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 83 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_2 completed with success=False +[05/24 16:16:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_83: 2 episodes +[05/24 16:16:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_83 +[05/24 16:17:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_83 in 3.88s (batch: 3.71s, save: 0.17s) +[05/24 16:17:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_83 +[05/24 16:17:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 83: 0/2 successful episodes +[05/24 16:17:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 94 (index 7/83) +[05/24 16:17:01 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 94 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:17:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_94_ceiling.xml +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=94, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 16:17:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:17:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 94 episode 0/2 collected=0/2 +[05/24 16:17:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 94 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=False +[05/24 16:18:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_94_ceiling.xml +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=94, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 74 objects +[05/24 16:18:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:18:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 94 episode 1/2 collected=1/2 +[05/24 16:18:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 94 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_8 completed with success=False +[05/24 16:20:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_94: 2 episodes +[05/24 16:20:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_94 +[05/24 16:20:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_94 in 3.80s (batch: 3.64s, save: 0.16s) +[05/24 16:20:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_94 +[05/24 16:20:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 94: 0/2 successful episodes +[05/24 16:20:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 108 (index 8/83) +[05/24 16:20:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 108 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:20:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_108_ceiling.xml +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=108, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:20:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:20:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 108 episode 0/2 collected=0/2 +[05/24 16:20:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 108 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 16:20:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_108_ceiling.xml +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=108, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:20:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 16:20:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 108 episode 1/2 collected=1/2 +[05/24 16:20:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 108 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 16:21:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_108: 2 episodes +[05/24 16:21:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:21:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_108 +[05/24 16:21:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_108 in 3.34s (batch: 3.29s, save: 0.05s) +[05/24 16:21:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_108 +[05/24 16:21:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 108: 2/2 successful episodes +[05/24 16:21:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 122 (index 9/83) +[05/24 16:21:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 122 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:21:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_122_ceiling.xml +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=122, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:21:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 122 episode 0/1 collected=0/2 +[05/24 16:21:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:22:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 122 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 16:22:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_122: 1 episodes +[05/24 16:22:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:22:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:22:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_122 +[05/24 16:22:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_122 in 2.39s (batch: 2.31s, save: 0.08s) +[05/24 16:22:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_122 +[05/24 16:22:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 122: 0/1 successful episodes +[05/24 16:22:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 123 (index 10/83) +[05/24 16:22:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 123 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:22:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_123_ceiling.xml +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=123, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:22:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:22:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 123 episode 0/2 collected=0/2 +[05/24 16:22:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 123 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_7 completed with success=True +[05/24 16:23:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_123_ceiling.xml +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=123, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:23:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 16:23:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 123 episode 1/2 collected=1/2 +[05/24 16:23:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 123 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 16:24:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_123: 2 episodes +[05/24 16:24:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 184 timesteps +[05/24 16:24:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_123 +[05/24 16:24:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_123 in 3.68s (batch: 3.55s, save: 0.13s) +[05/24 16:24:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_123 +[05/24 16:24:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 123: 1/2 successful episodes +[05/24 16:24:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 143 (index 11/83) +[05/24 16:24:56 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 143 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:24:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_143_ceiling.xml +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=143, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 16:24:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 143 episode 0/2 collected=0/2 +[05/24 16:24:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 143 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:26:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_143_ceiling.xml +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=143, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:26:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with thick rim' +[05/24 16:26:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 143 episode 1/2 collected=1/2 +[05/24 16:26:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 143 episode 1 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 16:26:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_143: 2 episodes +[05/24 16:26:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:26:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_143 +[05/24 16:26:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_143 in 3.49s (batch: 3.38s, save: 0.11s) +[05/24 16:26:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_143 +[05/24 16:26:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 143: 1/2 successful episodes +[05/24 16:26:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 149 (index 12/83) +[05/24 16:26:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 149 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:26:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_149_ceiling.xml +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=149, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects +[05/24 16:26:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:26:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 149 episode 0/1 collected=0/2 +[05/24 16:26:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 149 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_2 completed with success=False +[05/24 16:28:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_149: 1 episodes +[05/24 16:28:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_149 +[05/24 16:28:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_149 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 16:28:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_149 +[05/24 16:28:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 149: 0/1 successful episodes +[05/24 16:28:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 165 (index 13/83) +[05/24 16:28:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 165 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:28:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_165_ceiling.xml +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=165, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 16:28:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:28:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 165 episode 0/1 collected=0/2 +[05/24 16:28:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 165 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=True +[05/24 16:28:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_165: 1 episodes +[05/24 16:28:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 16:28:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_165 +[05/24 16:28:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_165 in 2.21s (batch: 2.19s, save: 0.03s) +[05/24 16:28:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_165 +[05/24 16:28:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 165: 1/1 successful episodes +[05/24 16:28:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 176 (index 14/83) +[05/24 16:28:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 176 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:28:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_176_ceiling.xml +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=176, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:28:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:28:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 176 episode 0/2 collected=0/2 +[05/24 16:28:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 176 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:29:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_176_ceiling.xml +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=176, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:29:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 16:29:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 176 episode 1/2 collected=1/2 +[05/24 16:29:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 176 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 16:31:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_176: 2 episodes +[05/24 16:31:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_176 +[05/24 16:31:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_176 in 4.97s (batch: 4.78s, save: 0.19s) +[05/24 16:31:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_176 +[05/24 16:31:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 176: 0/2 successful episodes +[05/24 16:31:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 190 (index 15/83) +[05/24 16:31:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 190 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:31:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_190_ceiling.xml +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=190, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:31:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:31:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 190 episode 0/1 collected=0/2 +[05/24 16:31:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 190 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:32:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_190: 1 episodes +[05/24 16:32:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_190 +[05/24 16:33:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_190 in 2.41s (batch: 2.32s, save: 0.09s) +[05/24 16:33:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_190 +[05/24 16:33:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 190: 0/1 successful episodes +[05/24 16:33:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 207 (index 16/83) +[05/24 16:33:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 207 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:33:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_207_ceiling.xml +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=207, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:33:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:33:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 207 episode 0/1 collected=0/2 +[05/24 16:33:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 207 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:34:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_207: 1 episodes +[05/24 16:34:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:34:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_207 +[05/24 16:34:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_207 in 2.47s (batch: 2.35s, save: 0.12s) +[05/24 16:34:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_207 +[05/24 16:34:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 207: 0/1 successful episodes +[05/24 16:34:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 220 (index 17/83) +[05/24 16:34:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 220 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:34:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_220_ceiling.xml +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=220, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:34:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:34:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 220 episode 0/2 collected=0/2 +[05/24 16:34:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 220 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:34:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_220_ceiling.xml +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=220, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:34:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:34:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 220 episode 1/2 collected=1/2 +[05/24 16:34:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 220 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:35:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_220: 2 episodes +[05/24 16:35:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:35:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_220 +[05/24 16:35:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_220 in 3.59s (batch: 3.48s, save: 0.11s) +[05/24 16:35:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_220 +[05/24 16:35:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 220: 1/2 successful episodes +[05/24 16:35:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 235 (index 18/83) +[05/24 16:35:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 235 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:35:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_235_ceiling.xml +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=235, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:36:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:36:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 235 episode 0/1 collected=0/2 +[05/24 16:36:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 235 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 16:37:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_235: 1 episodes +[05/24 16:37:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:37:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_235 +[05/24 16:37:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_235 in 2.39s (batch: 2.31s, save: 0.09s) +[05/24 16:37:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_235 +[05/24 16:37:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 235: 0/1 successful episodes +[05/24 16:37:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 239 (index 19/83) +[05/24 16:37:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 239 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:37:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_239_ceiling.xml +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=239, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:37:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle' +[05/24 16:37:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 239 episode 0/2 collected=0/2 +[05/24 16:37:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 239 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 16:38:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_239_ceiling.xml +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=239, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:39:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug' +[05/24 16:39:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 239 episode 1/2 collected=1/2 +[05/24 16:39:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 239 episode 1 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True +[05/24 16:39:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_239: 2 episodes +[05/24 16:39:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:39:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_239 +[05/24 16:39:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_239 in 4.64s (batch: 4.52s, save: 0.11s) +[05/24 16:39:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_239 +[05/24 16:39:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 239: 1/2 successful episodes +[05/24 16:39:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 252 (index 20/83) +[05/24 16:39:25 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 252 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:39:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_252_ceiling.xml +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=252, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:39:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:39:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 252 episode 0/1 collected=0/2 +[05/24 16:39:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 252 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=False +[05/24 16:40:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_252: 1 episodes +[05/24 16:40:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_252 +[05/24 16:40:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_252 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:40:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_252 +[05/24 16:40:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 252: 0/1 successful episodes +[05/24 16:40:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 266 (index 21/83) +[05/24 16:40:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 266 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:40:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_266_ceiling.xml +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=266, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:40:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 16:40:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 266 episode 0/2 collected=0/2 +[05/24 16:40:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 266 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=False +[05/24 16:42:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_266_ceiling.xml +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=266, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:42:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:42:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 266 episode 1/2 collected=1/2 +[05/24 16:42:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 266 episode 1 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_6 completed with success=False +[05/24 16:43:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_266: 2 episodes +[05/24 16:43:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_266 +[05/24 16:43:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_266 in 4.93s (batch: 4.74s, save: 0.19s) +[05/24 16:43:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_266 +[05/24 16:43:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 266: 0/2 successful episodes +[05/24 16:43:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 273 (index 22/83) +[05/24 16:43:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 273 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:43:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_273_ceiling.xml +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=273, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:43:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:43:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 273 episode 0/1 collected=0/2 +[05/24 16:43:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 273 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 16:45:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_273: 1 episodes +[05/24 16:45:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_273 +[05/24 16:45:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_273 in 1.85s (batch: 1.76s, save: 0.08s) +[05/24 16:45:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_273 +[05/24 16:45:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 273: 0/1 successful episodes +[05/24 16:45:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 298 (index 23/83) +[05/24 16:45:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 298 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:45:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_298_ceiling.xml +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=298, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:45:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 16:45:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 298 episode 0/2 collected=0/2 +[05/24 16:45:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 298 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_6 completed with success=False +[05/24 16:46:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_298_ceiling.xml +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=298, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:46:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 16:46:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 298 episode 1/2 collected=1/2 +[05/24 16:46:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 298 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:46:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_298: 2 episodes +[05/24 16:46:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 16:46:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_298 +[05/24 16:46:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_298 in 3.50s (batch: 3.39s, save: 0.11s) +[05/24 16:46:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_298 +[05/24 16:46:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 298: 1/2 successful episodes +[05/24 16:46:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 302 (index 24/83) +[05/24 16:46:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 302 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:46:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_302_ceiling.xml +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=302, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:46:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:46:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 302 episode 0/1 collected=0/2 +[05/24 16:46:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 302 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 16:49:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_302: 1 episodes +[05/24 16:49:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:49:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_302 +[05/24 16:49:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_302 in 2.43s (batch: 2.34s, save: 0.09s) +[05/24 16:49:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_302 +[05/24 16:49:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 302: 0/1 successful episodes +[05/24 16:49:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 318 (index 25/83) +[05/24 16:49:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 318 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:49:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_318_ceiling.xml +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=318, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:49:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 16:49:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 318 episode 0/2 collected=0/2 +[05/24 16:49:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 318 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_2_0_8 completed with success=True +[05/24 16:49:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_318_ceiling.xml +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=318, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 16:49:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle with handle' +[05/24 16:49:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 318 episode 1/2 collected=1/2 +[05/24 16:49:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 318 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_8 completed with success=False +[05/24 16:51:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_318: 2 episodes +[05/24 16:51:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:51:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_318 +[05/24 16:51:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_318 in 4.68s (batch: 4.58s, save: 0.11s) +[05/24 16:51:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_318 +[05/24 16:51:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 318: 1/2 successful episodes +[05/24 16:51:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 324 (index 26/83) +[05/24 16:51:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 324 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:51:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_324_ceiling.xml +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=324, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:51:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 16:51:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 324 episode 0/1 collected=0/2 +[05/24 16:51:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 324 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_7 completed with success=False +[05/24 16:52:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_324: 1 episodes +[05/24 16:52:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:27 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_324 +[05/24 16:52:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_324 in 1.86s (batch: 1.78s, save: 0.08s) +[05/24 16:52:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_324 +[05/24 16:52:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 324: 0/1 successful episodes +[05/24 16:52:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 341 (index 27/83) +[05/24 16:52:27 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 341 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:52:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_341_ceiling.xml +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=341, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:52:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:52:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 341 episode 0/2 collected=0/2 +[05/24 16:52:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 341 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:52:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_341_ceiling.xml +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=341, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 16:52:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass shaker' +[05/24 16:52:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 341 episode 1/2 collected=1/2 +[05/24 16:52:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 341 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 16:53:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_341: 2 episodes +[05/24 16:53:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:53:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 97 timesteps +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_341 +[05/24 16:53:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_341 in 3.22s (batch: 3.16s, save: 0.06s) +[05/24 16:53:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_341 +[05/24 16:53:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 341: 2/2 successful episodes +[05/24 16:53:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 344 (index 28/83) +[05/24 16:53:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 344 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:53:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_344_ceiling.xml +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=344, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:53:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 344 episode 0/1 collected=0/2 +[05/24 16:53:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 344 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:54:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_344: 1 episodes +[05/24 16:54:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_344 +[05/24 16:54:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_344 in 1.92s (batch: 1.81s, save: 0.11s) +[05/24 16:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_344 +[05/24 16:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 344: 0/1 successful episodes +[05/24 16:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 359 (index 29/83) +[05/24 16:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 359 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_359_ceiling.xml +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=359, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 16:54:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:54:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 359 episode 0/1 collected=0/2 +[05/24 16:54:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 359 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:54:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_359: 1 episodes +[05/24 16:54:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:54:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_359 +[05/24 16:54:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_359 in 2.12s (batch: 2.09s, save: 0.03s) +[05/24 16:54:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_359 +[05/24 16:54:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 359: 1/1 successful episodes +[05/24 16:54:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 372 (index 30/83) +[05/24 16:54:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 372 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:54:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_372_ceiling.xml +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=372, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:54:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:54:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 372 episode 0/2 collected=0/2 +[05/24 16:54:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 372 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:55:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_372_ceiling.xml +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=372, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:55:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the wine bottle' +[05/24 16:55:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 372 episode 1/2 collected=1/2 +[05/24 16:55:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 372 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:55:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_372: 2 episodes +[05/24 16:55:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:55:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:55:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_372 +[05/24 16:55:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_372 in 3.28s (batch: 3.23s, save: 0.05s) +[05/24 16:55:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_372 +[05/24 16:55:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 372: 2/2 successful episodes +[05/24 16:55:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 385 (index 31/83) +[05/24 16:55:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 385 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:55:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_385_ceiling.xml +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=385, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:55:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:55:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 385 episode 0/2 collected=0/2 +[05/24 16:55:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 385 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:55:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_385_ceiling.xml +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=385, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:55:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:55:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 385 episode 1/2 collected=1/2 +[05/24 16:55:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 385 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:55:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_385: 2 episodes +[05/24 16:55:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 99 timesteps +[05/24 16:56:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:56:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:56:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_385 +[05/24 16:56:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_385 in 3.26s (batch: 3.21s, save: 0.06s) +[05/24 16:56:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_385 +[05/24 16:56:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 385: 2/2 successful episodes +[05/24 16:56:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 396 (index 32/83) +[05/24 16:56:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 396 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:56:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_396_ceiling.xml +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=396, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 16:56:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:56:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 396 episode 0/1 collected=0/2 +[05/24 16:56:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 396 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:57:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_396: 1 episodes +[05/24 16:57:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_396 +[05/24 16:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_396 in 2.34s (batch: 2.26s, save: 0.09s) +[05/24 16:57:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_396 +[05/24 16:57:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 396: 0/1 successful episodes +[05/24 16:57:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 409 (index 33/83) +[05/24 16:57:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 409 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:57:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_409_ceiling.xml +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=409, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 16:57:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 409 episode 0/2 collected=0/2 +[05/24 16:57:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 409 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_2 completed with success=True +[05/24 16:57:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_409_ceiling.xml +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=409, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:57:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:57:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 409 episode 1/2 collected=1/2 +[05/24 16:57:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 409 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:58:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_409: 2 episodes +[05/24 16:58:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:58:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:58:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_409 +[05/24 16:58:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_409 in 4.61s (batch: 4.50s, save: 0.11s) +[05/24 16:59:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_409 +[05/24 16:59:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 409: 1/2 successful episodes +[05/24 16:59:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 414 (index 34/83) +[05/24 16:59:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 414 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 16:59:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_414_ceiling.xml +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=414, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:59:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 16:59:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 414 episode 0/1 collected=0/2 +[05/24 16:59:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 414 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_8 completed with success=False +[05/24 17:00:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_414: 1 episodes +[05/24 17:00:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_414 +[05/24 17:00:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_414 in 1.89s (batch: 1.80s, save: 0.09s) +[05/24 17:00:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_414 +[05/24 17:00:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 414: 0/1 successful episodes +[05/24 17:00:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 436 (index 35/83) +[05/24 17:00:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 436 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:00:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_436_ceiling.xml +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=436, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:00:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:00:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 436 episode 0/2 collected=0/2 +[05/24 17:00:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 436 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 17:01:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_436_ceiling.xml +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=436, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:01:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:01:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 436 episode 1/2 collected=1/2 +[05/24 17:01:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 436 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=True +[05/24 17:02:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_436: 2 episodes +[05/24 17:02:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 53 timesteps +[05/24 17:02:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_436 +[05/24 17:02:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_436 in 4.68s (batch: 4.57s, save: 0.12s) +[05/24 17:02:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_436 +[05/24 17:02:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 436: 1/2 successful episodes +[05/24 17:02:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 437 (index 36/83) +[05/24 17:02:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 437 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:02:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_437_ceiling.xml +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=437, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 95 objects +[05/24 17:02:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:02:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 437 episode 0/1 collected=0/2 +[05/24 17:02:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 437 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:02:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_437: 1 episodes +[05/24 17:02:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:02:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_437 +[05/24 17:02:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_437 in 1.73s (batch: 1.70s, save: 0.03s) +[05/24 17:02:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_437 +[05/24 17:02:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 437: 1/1 successful episodes +[05/24 17:02:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 464 (index 37/83) +[05/24 17:02:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 464 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:02:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_464_ceiling.xml +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=464, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:02:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tomato' +[05/24 17:02:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 464 episode 0/1 collected=0/2 +[05/24 17:02:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 464 episode 0 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 17:03:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_464: 1 episodes +[05/24 17:03:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_464 +[05/24 17:03:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_464 in 1.91s (batch: 1.79s, save: 0.12s) +[05/24 17:03:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_464 +[05/24 17:03:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 464: 0/1 successful episodes +[05/24 17:03:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 466 (index 38/83) +[05/24 17:03:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 466 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:03:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_466_ceiling.xml +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=466, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:03:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:03:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 466 episode 0/2 collected=0/2 +[05/24 17:03:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 466 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=False +[05/24 17:05:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_466_ceiling.xml +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=466, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:05:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:05:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 466 episode 1/2 collected=1/2 +[05/24 17:05:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 466 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:05:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_466: 2 episodes +[05/24 17:05:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_466 +[05/24 17:05:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_466 in 3.43s (batch: 3.33s, save: 0.10s) +[05/24 17:05:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_466 +[05/24 17:05:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 466: 1/2 successful episodes +[05/24 17:05:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 487 (index 39/83) +[05/24 17:05:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 487 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:05:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_487_ceiling.xml +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=487, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:05:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife' +[05/24 17:05:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 487 episode 0/2 collected=0/2 +[05/24 17:05:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 487 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 17:06:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_487_ceiling.xml +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=487, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:06:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 17:06:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 487 episode 1/2 collected=1/2 +[05/24 17:06:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 487 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:08:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_487: 2 episodes +[05/24 17:08:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_487 +[05/24 17:08:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_487 in 3.73s (batch: 3.57s, save: 0.16s) +[05/24 17:08:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_487 +[05/24 17:08:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 487: 0/2 successful episodes +[05/24 17:08:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 488 (index 40/83) +[05/24 17:08:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 488 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:08:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_488_ceiling.xml +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=488, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:08:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:08:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 488 episode 0/1 collected=0/2 +[05/24 17:08:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 488 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 17:09:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_488: 1 episodes +[05/24 17:09:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/24 17:09:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:03 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_488 +[05/24 17:09:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_488 in 2.21s (batch: 2.17s, save: 0.05s) +[05/24 17:09:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_488 +[05/24 17:09:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 488: 1/1 successful episodes +[05/24 17:09:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 501 (index 41/83) +[05/24 17:09:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 501 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:09:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_501_ceiling.xml +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=501, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:09:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green bottle' +[05/24 17:09:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 501 episode 0/1 collected=0/2 +[05/24 17:09:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 501 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:10:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_501: 1 episodes +[05/24 17:10:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_501 +[05/24 17:10:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_501 in 1.99s (batch: 1.90s, save: 0.09s) +[05/24 17:10:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_501 +[05/24 17:10:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 501: 0/1 successful episodes +[05/24 17:10:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 521 (index 42/83) +[05/24 17:10:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 521 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:10:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_521_ceiling.xml +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=521, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:10:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:10:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 521 episode 0/1 collected=0/2 +[05/24 17:10:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 521 episode 0 object soapdispenser_3034d0f5427a5be111e3fa83db2dc2a4_1_0_6 completed with success=False +[05/24 17:11:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_521: 1 episodes +[05/24 17:11:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:11:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_521 +[05/24 17:11:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_521 in 2.39s (batch: 2.29s, save: 0.09s) +[05/24 17:11:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_521 +[05/24 17:11:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 521: 0/1 successful episodes +[05/24 17:11:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 533 (index 43/83) +[05/24 17:11:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 533 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:11:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_533_ceiling.xml +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=533, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:11:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:11:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 533 episode 0/2 collected=0/2 +[05/24 17:11:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 533 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=False +[05/24 17:13:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_533_ceiling.xml +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=533, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 17:13:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 17:13:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 533 episode 1/2 collected=1/2 +[05/24 17:13:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 533 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 17:13:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_533: 2 episodes +[05/24 17:13:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:13:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_533 +[05/24 17:13:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_533 in 4.61s (batch: 4.49s, save: 0.12s) +[05/24 17:13:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_533 +[05/24 17:13:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 533: 1/2 successful episodes +[05/24 17:13:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 539 (index 44/83) +[05/24 17:13:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 539 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:13:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_539_ceiling.xml +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=539, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:13:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:13:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 539 episode 0/1 collected=0/2 +[05/24 17:13:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 539 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:14:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_539: 1 episodes +[05/24 17:14:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_539 +[05/24 17:14:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_539 in 2.43s (batch: 2.34s, save: 0.09s) +[05/24 17:14:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_539 +[05/24 17:14:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 539: 0/1 successful episodes +[05/24 17:14:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 547 (index 45/83) +[05/24 17:14:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 547 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:14:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_547_ceiling.xml +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=547, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:14:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige mug' +[05/24 17:14:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 547 episode 0/2 collected=0/2 +[05/24 17:14:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 547 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_4 completed with success=True +[05/24 17:14:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_547_ceiling.xml +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=547, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:15:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:15:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 547 episode 1/2 collected=1/2 +[05/24 17:15:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 547 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 17:16:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_547: 2 episodes +[05/24 17:16:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_547 +[05/24 17:16:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_547 in 3.59s (batch: 3.48s, save: 0.11s) +[05/24 17:16:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_547 +[05/24 17:16:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 547: 1/2 successful episodes +[05/24 17:16:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 562 (index 46/83) +[05/24 17:16:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 562 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:16:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_562_ceiling.xml +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=562, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:16:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:16:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 562 episode 0/2 collected=0/2 +[05/24 17:16:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 562 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:17:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_562_ceiling.xml +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=562, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:17:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:17:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 562 episode 1/2 collected=1/2 +[05/24 17:17:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 562 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_2 completed with success=True +[05/24 17:17:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_562: 2 episodes +[05/24 17:17:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 17:18:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_562 +[05/24 17:18:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_562 in 3.50s (batch: 3.38s, save: 0.12s) +[05/24 17:18:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_562 +[05/24 17:18:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 562: 1/2 successful episodes +[05/24 17:18:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 565 (index 47/83) +[05/24 17:18:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 565 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:18:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_565_ceiling.xml +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=565, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 7 objects +[05/24 17:18:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded cup' +[05/24 17:18:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 565 episode 0/1 collected=0/2 +[05/24 17:18:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 565 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_2 completed with success=False +[05/24 17:19:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_565: 1 episodes +[05/24 17:19:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_565 +[05/24 17:19:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_565 in 2.46s (batch: 2.36s, save: 0.10s) +[05/24 17:19:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_565 +[05/24 17:19:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 565: 0/1 successful episodes +[05/24 17:19:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 580 (index 48/83) +[05/24 17:19:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 580 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:19:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_580_ceiling.xml +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=580, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:19:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth glossy red apple with stem' +[05/24 17:19:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 580 episode 0/2 collected=0/2 +[05/24 17:19:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 580 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 17:20:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_580_ceiling.xml +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=580, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:20:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass shaker' +[05/24 17:20:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 580 episode 1/2 collected=1/2 +[05/24 17:20:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 580 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 17:21:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_580: 2 episodes +[05/24 17:21:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:39 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_580 +[05/24 17:21:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_580 in 4.93s (batch: 4.77s, save: 0.17s) +[05/24 17:21:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_580 +[05/24 17:21:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 580: 0/2 successful episodes +[05/24 17:21:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 587 (index 49/83) +[05/24 17:21:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 587 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:21:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_587_ceiling.xml +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=587, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:21:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:21:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 587 episode 0/1 collected=0/2 +[05/24 17:21:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:22:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 587 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:22:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_587: 1 episodes +[05/24 17:22:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_587 +[05/24 17:23:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_587 in 1.87s (batch: 1.78s, save: 0.08s) +[05/24 17:23:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_587 +[05/24 17:23:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 587: 0/1 successful episodes +[05/24 17:23:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 608 (index 50/83) +[05/24 17:23:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 608 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:23:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_608_ceiling.xml +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=608, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:23:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:23:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 608 episode 0/1 collected=0/2 +[05/24 17:23:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 608 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:23:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_608: 1 episodes +[05/24 17:23:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:23:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:16 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_608 +[05/24 17:23:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_608 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:23:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_608 +[05/24 17:23:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 608: 1/1 successful episodes +[05/24 17:23:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 615 (index 51/83) +[05/24 17:23:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 615 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:23:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_615_ceiling.xml +[05/24 17:23:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=615, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects +[05/24 17:23:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the false fruit' +[05/24 17:23:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 615 episode 0/2 collected=0/2 +[05/24 17:23:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 615 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 17:24:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_615_ceiling.xml +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=615, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 103 objects +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:25:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 615 episode 1/2 collected=1/2 +[05/24 17:25:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 615 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_2_0_9 completed with success=False +[05/24 17:26:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_615: 2 episodes +[05/24 17:26:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_615 +[05/24 17:26:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_615 in 4.94s (batch: 4.77s, save: 0.17s) +[05/24 17:26:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_615 +[05/24 17:26:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 615: 0/2 successful episodes +[05/24 17:26:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 628 (index 52/83) +[05/24 17:26:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 628 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:26:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_628_ceiling.xml +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=628, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:26:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:26:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 628 episode 0/1 collected=0/2 +[05/24 17:26:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 628 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 17:28:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_628: 1 episodes +[05/24 17:28:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:28:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:06 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_628 +[05/24 17:28:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_628 in 2.46s (batch: 2.37s, save: 0.09s) +[05/24 17:28:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_628 +[05/24 17:28:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 628: 0/1 successful episodes +[05/24 17:28:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 637 (index 53/83) +[05/24 17:28:06 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 637 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:28:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_637_ceiling.xml +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=637, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:28:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:28:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 637 episode 0/2 collected=0/2 +[05/24 17:28:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 637 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 17:28:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_637_ceiling.xml +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=637, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:28:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal rectangular box' +[05/24 17:28:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 637 episode 1/2 collected=1/2 +[05/24 17:28:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 637 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_7 completed with success=True +[05/24 17:29:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_637: 2 episodes +[05/24 17:29:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:29:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 292 timesteps +[05/24 17:29:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_637 +[05/24 17:29:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_637 in 3.47s (batch: 3.38s, save: 0.08s) +[05/24 17:29:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_637 +[05/24 17:29:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 637: 2/2 successful episodes +[05/24 17:29:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 658 (index 54/83) +[05/24 17:29:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 658 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:29:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_658_ceiling.xml +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=658, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:29:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:29:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 658 episode 0/2 collected=0/2 +[05/24 17:29:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 658 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:30:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_658_ceiling.xml +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=658, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:30:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 17:30:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 658 episode 1/2 collected=1/2 +[05/24 17:30:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 658 episode 1 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 17:31:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_658: 2 episodes +[05/24 17:31:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_658 +[05/24 17:31:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_658 in 4.89s (batch: 4.70s, save: 0.19s) +[05/24 17:31:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_658 +[05/24 17:31:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 658: 0/2 successful episodes +[05/24 17:31:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 661 (index 55/83) +[05/24 17:31:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 661 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:31:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_661_ceiling.xml +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=661, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:31:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:31:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 661 episode 0/1 collected=0/2 +[05/24 17:31:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 661 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:32:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_661: 1 episodes +[05/24 17:32:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 17:32:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_661 +[05/24 17:32:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_661 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:32:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_661 +[05/24 17:32:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 661: 1/1 successful episodes +[05/24 17:32:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 680 (index 56/83) +[05/24 17:32:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 680 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:32:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_680_ceiling.xml +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=680, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:32:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:32:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 680 episode 0/1 collected=0/2 +[05/24 17:32:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 680 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 17:33:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_680: 1 episodes +[05/24 17:33:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:48 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_680 +[05/24 17:33:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_680 in 2.49s (batch: 2.40s, save: 0.09s) +[05/24 17:33:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_680 +[05/24 17:33:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 680: 0/1 successful episodes +[05/24 17:33:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 690 (index 57/83) +[05/24 17:33:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 690 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:33:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_690_ceiling.xml +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=690, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:33:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass pepper shaker' +[05/24 17:33:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 690 episode 0/2 collected=0/2 +[05/24 17:33:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 690 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 17:35:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_690_ceiling.xml +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=690, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 17:35:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 17:35:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 690 episode 1/2 collected=1/2 +[05/24 17:35:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 690 episode 1 object apple_351743009add5172747a3534de5d2e2f_1_0_6 completed with success=False +[05/24 17:36:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_690: 2 episodes +[05/24 17:36:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_690 +[05/24 17:36:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_690 in 4.77s (batch: 4.60s, save: 0.16s) +[05/24 17:36:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_690 +[05/24 17:36:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 690: 0/2 successful episodes +[05/24 17:36:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 698 (index 58/83) +[05/24 17:36:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 698 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:36:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_698_ceiling.xml +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=698, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 17:36:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 17:36:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 698 episode 0/1 collected=0/2 +[05/24 17:36:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 698 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=False +[05/24 17:37:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_698: 1 episodes +[05/24 17:37:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:37:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:37:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_698 +[05/24 17:37:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_698 in 2.38s (batch: 2.29s, save: 0.08s) +[05/24 17:37:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_698 +[05/24 17:37:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 698: 0/1 successful episodes +[05/24 17:37:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 719 (index 59/83) +[05/24 17:37:40 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 719 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:37:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:37:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_719_ceiling.xml +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=719, scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:37:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:37:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:37:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:37:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass pepper shaker' +[05/24 17:37:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 719 episode 0/1 collected=0/2 +[05/24 17:37:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 719 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 17:39:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_719: 1 episodes +[05/24 17:39:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_719 +[05/24 17:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_719 in 2.40s (batch: 2.31s, save: 0.09s) +[05/24 17:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_719 +[05/24 17:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 719: 0/1 successful episodes +[05/24 17:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 732 (index 60/83) +[05/24 17:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 732 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_732_ceiling.xml +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=732, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal ladle' +[05/24 17:39:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 732 episode 0/2 collected=0/2 +[05/24 17:39:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 732 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 17:39:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_732_ceiling.xml +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=732, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:39:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 17:39:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 732 episode 1/2 collected=1/2 +[05/24 17:39:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 732 episode 1 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 17:39:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_732: 2 episodes +[05/24 17:39:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:39:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:39:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_732 +[05/24 17:39:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_732 in 4.46s (batch: 4.40s, save: 0.05s) +[05/24 17:39:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_732 +[05/24 17:39:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 732: 2/2 successful episodes +[05/24 17:39:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 740 (index 61/83) +[05/24 17:39:48 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 740 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:39:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_740_ceiling.xml +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=740, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:39:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 740 episode 0/1 collected=0/2 +[05/24 17:39:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 740 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=True +[05/24 17:40:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_740: 1 episodes +[05/24 17:40:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 180 timesteps +[05/24 17:40:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_740 +[05/24 17:40:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_740 in 2.32s (batch: 2.27s, save: 0.05s) +[05/24 17:40:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_740 +[05/24 17:40:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 740: 1/1 successful episodes +[05/24 17:40:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 757 (index 62/83) +[05/24 17:40:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 757 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:40:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_757_ceiling.xml +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=757, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:40:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:40:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 757 episode 0/2 collected=0/2 +[05/24 17:40:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 757 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=True +[05/24 17:41:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_757_ceiling.xml +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=757, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:41:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:41:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 757 episode 1/2 collected=1/2 +[05/24 17:41:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 757 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 17:42:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_757: 2 episodes +[05/24 17:42:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 305 timesteps +[05/24 17:42:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:42:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_757 +[05/24 17:42:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_757 in 3.76s (batch: 3.60s, save: 0.16s) +[05/24 17:42:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_757 +[05/24 17:42:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 757: 1/2 successful episodes +[05/24 17:42:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 763 (index 63/83) +[05/24 17:42:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 763 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:42:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_763_ceiling.xml +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=763, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 65 objects +[05/24 17:42:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:42:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 763 episode 0/1 collected=0/2 +[05/24 17:42:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 763 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:44:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_763: 1 episodes +[05/24 17:44:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:44:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_763 +[05/24 17:44:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_763 in 1.88s (batch: 1.80s, save: 0.08s) +[05/24 17:44:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_763 +[05/24 17:44:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 763: 0/1 successful episodes +[05/24 17:44:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 781 (index 64/83) +[05/24 17:44:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 781 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:44:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_781_ceiling.xml +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=781, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:44:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup without handle' +[05/24 17:44:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 781 episode 0/1 collected=0/2 +[05/24 17:44:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 781 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_2_0_2 completed with success=False +[05/24 17:45:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_781: 1 episodes +[05/24 17:45:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_781 +[05/24 17:45:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_781 in 1.94s (batch: 1.84s, save: 0.09s) +[05/24 17:45:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_781 +[05/24 17:45:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 781: 0/1 successful episodes +[05/24 17:45:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 790 (index 65/83) +[05/24 17:45:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 790 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:45:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_790_ceiling.xml +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=790, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:45:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:45:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 790 episode 0/2 collected=0/2 +[05/24 17:45:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 790 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:47:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_790_ceiling.xml +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=790, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:47:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 17:47:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 790 episode 1/2 collected=1/2 +[05/24 17:47:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 790 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:48:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_790: 2 episodes +[05/24 17:48:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_790 +[05/24 17:48:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_790 in 4.84s (batch: 4.67s, save: 0.16s) +[05/24 17:48:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_790 +[05/24 17:48:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 790: 0/2 successful episodes +[05/24 17:48:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 803 (index 66/83) +[05/24 17:48:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 803 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:48:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_803_ceiling.xml +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=803, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 17:48:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue' +[05/24 17:48:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 803 episode 0/1 collected=0/2 +[05/24 17:48:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 803 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=False +[05/24 17:50:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_803: 1 episodes +[05/24 17:50:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:50:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:50:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_803 +[05/24 17:50:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_803 in 2.36s (batch: 2.28s, save: 0.09s) +[05/24 17:50:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_803 +[05/24 17:50:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 803: 0/1 successful episodes +[05/24 17:50:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 821 (index 67/83) +[05/24 17:50:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 821 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:50:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:50:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_821_ceiling.xml +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=821, scene_dataset=procthor-10k, data_split=val +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects +[05/24 17:50:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:50:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:50:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:50:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:50:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:50:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:50:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 821 episode 0/2 collected=0/2 +[05/24 17:50:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:50:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 821 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 17:52:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_821_ceiling.xml +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=821, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 94 objects +[05/24 17:52:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:52:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 821 episode 1/2 collected=1/2 +[05/24 17:52:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 821 episode 1 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=True +[05/24 17:52:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_821: 2 episodes +[05/24 17:52:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_821 +[05/24 17:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_821 in 4.43s (batch: 4.32s, save: 0.11s) +[05/24 17:52:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_821 +[05/24 17:52:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 821: 1/2 successful episodes +[05/24 17:52:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 838 (index 68/83) +[05/24 17:52:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 838 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:52:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_838_ceiling.xml +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=838, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:52:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 17:52:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 838 episode 0/2 collected=0/2 +[05/24 17:52:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 838 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=True +[05/24 17:52:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_838_ceiling.xml +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=838, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 17:52:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:52:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 838 episode 1/2 collected=1/2 +[05/24 17:52:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 838 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:53:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_838: 2 episodes +[05/24 17:53:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:54:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_838 +[05/24 17:54:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_838 in 4.62s (batch: 4.51s, save: 0.11s) +[05/24 17:54:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_838 +[05/24 17:54:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 838: 1/2 successful episodes +[05/24 17:54:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 840 (index 69/83) +[05/24 17:54:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 840 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:54:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_840_ceiling.xml +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=840, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:54:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:54:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 840 episode 0/1 collected=0/2 +[05/24 17:54:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 840 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_2 completed with success=True +[05/24 17:54:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_840: 1 episodes +[05/24 17:54:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:54:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_840 +[05/24 17:54:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_840 in 2.11s (batch: 2.08s, save: 0.03s) +[05/24 17:54:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_840 +[05/24 17:54:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 840: 1/1 successful episodes +[05/24 17:54:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 855 (index 70/83) +[05/24 17:54:17 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 855 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:54:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_855_ceiling.xml +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=855, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:54:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:54:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 855 episode 0/2 collected=0/2 +[05/24 17:54:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 855 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=False +[05/24 17:55:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_855_ceiling.xml +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=855, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:55:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 17:55:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 855 episode 1/2 collected=1/2 +[05/24 17:55:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 855 episode 1 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_2_0_6 completed with success=True +[05/24 17:55:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_855: 2 episodes +[05/24 17:55:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:56:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_855 +[05/24 17:56:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_855 in 4.54s (batch: 4.43s, save: 0.10s) +[05/24 17:56:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_855 +[05/24 17:56:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 855: 1/2 successful episodes +[05/24 17:56:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 879 (index 71/83) +[05/24 17:56:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 879 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:56:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_879_ceiling.xml +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=879, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:56:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:56:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 879 episode 0/1 collected=0/2 +[05/24 17:56:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 879 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_6 completed with success=False +[05/24 17:57:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_879: 1 episodes +[05/24 17:57:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:57:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_879 +[05/24 17:57:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_879 in 2.46s (batch: 2.38s, save: 0.09s) +[05/24 17:57:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_879 +[05/24 17:57:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 879: 0/1 successful episodes +[05/24 17:57:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 880 (index 72/83) +[05/24 17:57:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 880 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:57:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_880_ceiling.xml +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=880, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:57:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife' +[05/24 17:57:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 880 episode 0/2 collected=0/2 +[05/24 17:57:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 880 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_2 completed with success=False +[05/24 17:58:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_880_ceiling.xml +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=880, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 17:58:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kettle' +[05/24 17:58:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 880 episode 1/2 collected=1/2 +[05/24 17:58:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 880 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:58:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_880: 2 episodes +[05/24 17:58:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:58:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:58:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_880 +[05/24 17:58:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_880 in 4.46s (batch: 4.34s, save: 0.13s) +[05/24 17:58:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_880 +[05/24 17:58:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 880: 1/2 successful episodes +[05/24 17:58:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 894 (index 73/83) +[05/24 17:58:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 894 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:58:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_894_ceiling.xml +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=894, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:58:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup' +[05/24 17:58:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 894 episode 0/2 collected=0/2 +[05/24 17:58:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 894 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_8 completed with success=True +[05/24 17:59:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_894_ceiling.xml +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=894, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:59:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:59:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 894 episode 1/2 collected=1/2 +[05/24 17:59:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 894 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=True +[05/24 17:59:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_894: 2 episodes +[05/24 17:59:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:59:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:59:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_894 +[05/24 17:59:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_894 in 4.33s (batch: 4.24s, save: 0.09s) +[05/24 17:59:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_894 +[05/24 17:59:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 894: 2/2 successful episodes +[05/24 17:59:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 910 (index 74/83) +[05/24 17:59:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 910 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:59:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_910_ceiling.xml +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=910, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 17:59:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 910 episode 0/1 collected=0/2 +[05/24 17:59:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 910 episode 0 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_2 completed with success=True +[05/24 17:59:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_910: 1 episodes +[05/24 17:59:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 44 timesteps +[05/24 17:59:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_910 +[05/24 17:59:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_910 in 2.20s (batch: 2.18s, save: 0.03s) +[05/24 17:59:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_910 +[05/24 17:59:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 910: 1/1 successful episodes +[05/24 17:59:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 911 (index 75/83) +[05/24 17:59:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 911 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 17:59:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_911_ceiling.xml +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=911, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:59:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:59:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 911 episode 0/2 collected=0/2 +[05/24 17:59:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 911 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 17:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_911_ceiling.xml +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=911, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 18:00:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 18:00:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 911 episode 1/2 collected=1/2 +[05/24 18:00:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 911 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 18:01:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_911: 2 episodes +[05/24 18:01:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 18:01:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:01:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_911 +[05/24 18:01:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_911 in 4.60s (batch: 4.49s, save: 0.11s) +[05/24 18:01:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_911 +[05/24 18:01:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 911: 1/2 successful episodes +[05/24 18:01:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 934 (index 76/83) +[05/24 18:01:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 934 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:01:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_934_ceiling.xml +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=934, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 18:01:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 18:01:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 934 episode 0/1 collected=0/2 +[05/24 18:01:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:02:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 934 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 18:02:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_934: 1 episodes +[05/24 18:02:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:02:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:02:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_934 +[05/24 18:02:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_934 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 18:02:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_934 +[05/24 18:02:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 934: 0/1 successful episodes +[05/24 18:02:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 935 (index 77/83) +[05/24 18:02:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 935 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:02:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_935_ceiling.xml +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=935, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 18:02:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the compact dark teal rectangular box' +[05/24 18:02:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 935 episode 0/2 collected=0/2 +[05/24 18:02:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:02:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 935 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 18:02:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_935_ceiling.xml +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=935, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 18:02:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 18:02:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 935 episode 1/2 collected=1/2 +[05/24 18:02:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:04:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 935 episode 1 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_6 completed with success=False +[05/24 18:04:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_935: 2 episodes +[05/24 18:04:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 32 timesteps +[05/24 18:04:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:04:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:04:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_935 +[05/24 18:04:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_935 in 4.52s (batch: 4.41s, save: 0.10s) +[05/24 18:04:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_935 +[05/24 18:04:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 935: 1/2 successful episodes +[05/24 18:04:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 949 (index 78/83) +[05/24 18:04:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 949 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:04:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:04:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_949_ceiling.xml +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=949, scene_dataset=procthor-10k, data_split=val +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 18:04:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:04:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:04:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:04:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:04:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:04:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass pepper shaker' +[05/24 18:04:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 949 episode 0/1 collected=0/2 +[05/24 18:04:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:04:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:05:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 949 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 18:05:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_949: 1 episodes +[05/24 18:05:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:05:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_949 +[05/24 18:05:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_949 in 2.06s (batch: 1.98s, save: 0.08s) +[05/24 18:05:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_949 +[05/24 18:05:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 949: 0/1 successful episodes +[05/24 18:05:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 959 (index 79/83) +[05/24 18:05:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 959 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:05:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:05:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_959_ceiling.xml +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=959, scene_dataset=procthor-10k, data_split=val +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 18:05:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:05:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:05:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:05:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:05:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:05:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 18:05:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 959 episode 0/2 collected=0/2 +[05/24 18:05:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:05:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:05:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 959 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 18:05:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:06:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_959_ceiling.xml +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=959, scene_dataset=procthor-10k, data_split=val +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 18:06:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:06:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray' +[05/24 18:06:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 959 episode 1/2 collected=1/2 +[05/24 18:06:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:06:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:07:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 959 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=False +[05/24 18:07:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_959: 2 episodes +[05/24 18:07:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 18:07:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:07:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:07:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:07:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_959 +[05/24 18:07:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_959 in 3.47s (batch: 3.36s, save: 0.10s) +[05/24 18:07:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_959 +[05/24 18:07:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 959: 1/2 successful episodes +[05/24 18:07:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 970 (index 80/83) +[05/24 18:07:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 970 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:07:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:07:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_970_ceiling.xml +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=970, scene_dataset=procthor-10k, data_split=val +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:07:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:07:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:07:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:07:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:07:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:07:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal cooking pot' +[05/24 18:07:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 970 episode 0/2 collected=0/2 +[05/24 18:07:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:07:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:08:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 970 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 18:08:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:08:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_970_ceiling.xml +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=970, scene_dataset=procthor-10k, data_split=val +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 18:08:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:08:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:08:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:08:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:08:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:08:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 18:08:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 970 episode 1/2 collected=1/2 +[05/24 18:08:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:08:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:09:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 970 episode 1 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6 completed with success=True +[05/24 18:09:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_970: 2 episodes +[05/24 18:09:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:09:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 18:09:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:09:13 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:09:13 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_970 +[05/24 18:09:13 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_970 in 4.47s (batch: 4.36s, save: 0.11s) +[05/24 18:09:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_970 +[05/24 18:09:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 970: 1/2 successful episodes +[05/24 18:09:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 980 (index 81/83) +[05/24 18:09:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 980 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:09:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:09:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_980_ceiling.xml +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=980, scene_dataset=procthor-10k, data_split=val +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 18:09:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:09:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:09:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:09:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:09:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent smooth glass conical bowl' +[05/24 18:09:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 980 episode 0/1 collected=0/2 +[05/24 18:09:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:09:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:09:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 980 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=True +[05/24 18:09:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_980: 1 episodes +[05/24 18:09:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 18:09:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:09:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_980 +[05/24 18:09:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_980 in 2.11s (batch: 2.07s, save: 0.04s) +[05/24 18:09:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_980 +[05/24 18:09:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 980: 1/1 successful episodes +[05/24 18:09:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 995 (index 82/83) +[05/24 18:09:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 995 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_04 +[05/24 18:09:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:09:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_995_ceiling.xml +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=995, scene_dataset=procthor-10k, data_split=val +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 106 objects +[05/24 18:09:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:09:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:09:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:09:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:09:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 18:09:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 995 episode 0/2 collected=0/2 +[05/24 18:09:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:11:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 995 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 18:11:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:11:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_995_ceiling.xml +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=995, scene_dataset=procthor-10k, data_split=val +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 106 objects +[05/24 18:11:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:11:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black mug' +[05/24 18:11:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 995 episode 1/2 collected=1/2 +[05/24 18:11:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:12:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 995 episode 1 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_8 completed with success=False +[05/24 18:12:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_995: 2 episodes +[05/24 18:12:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:12:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:12:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:12:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:12:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_995 +[05/24 18:12:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_995 in 4.66s (batch: 4.50s, save: 0.16s) +[05/24 18:13:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_995 +[05/24 18:13:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 995: 0/2 successful episodes +[05/24 18:13:00 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:13:00 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:13:00 INFO pipeline.py:1499] Success count: 50, Total count: 125 +[05/24 18:13:00 INFO pipeline.py:1500] Success rate: 40.00% +Combined 125 episodes from 83 files → /tmp/tmp1mzp4tj5.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/results.csv at-end: 40.0% | oracle: 40.0% of 125 episodes +[2026-05-24 18:13:09,406] INFO MolmoSpaces simulator eval finished: success=50/125 rate=0.4000 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval +[2026-05-24 18:13:09,406] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_04/run_command.sh diff --git a/pick_msproc/pick_msproc/submission/shard_05.launcher.log b/pick_msproc/pick_msproc/submission/shard_05.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..78b6efc3c65247dda85fec6771904a737599efb8 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_05.launcher.log @@ -0,0 +1,2984 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,489] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,532] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,561] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 (source=arg) +[2026-05-24 15:59:56,814] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,041] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:42,616] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:42,616] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,448] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,504] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,543] INFO JsonEvalRunner initialized: 83 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 83 houses with 2 episodes each (166 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [13, + 29, + 43, + 55, + 60, + 82, + 85, + 97, + 109, + 125, + 127, + 144, + 152, + 172, + 179, + 191, + 210, + 221, + 238, + 241, + 254, + 270, + 274, + 300, + 303, + 323, + 325, + 346, + 348, + 360, + 373, + 386, + 397, + 412, + 416, + 438, + 439, + 468, + 469, + 489, + 490, + 509, + 524, + 534, + 540, + 548, + 567, + 571, + 583, + 588, + 609, + 620, + 631, + 638, + 659, + 663, + 682, + 694, + 699, + 720, + 733, + 742, + 761, + 764, + 783, + 792, + 808, + 827, + 839, + 842, + 860, + 881, + 882, + 895, + 912, + 913, + 936, + 937, + 951, + 961, + 973, + 983, + 998], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,548] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 13 (index 0/83) +[05/24 16:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 13 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:47,330:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:47,330] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_13_ceiling.xml +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=13, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:04:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:04:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 13 episode 0/2 collected=0/2 +[05/24 16:04:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:49.704 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:58,480] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:58,909] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:05,312] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:13,557] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:13,561] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 13 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_6 completed with success=True +[05/24 16:06:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_13_ceiling.xml +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=13, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 16:06:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:06:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 13 episode 1/2 collected=1/2 +[05/24 16:06:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 13 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:07:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_13: 2 episodes +[05/24 16:07:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:08:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_13 +[05/24 16:08:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_13 in 5.07s (batch: 4.96s, save: 0.11s) +[05/24 16:08:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_13 +[05/24 16:08:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 13: 1/2 successful episodes +[05/24 16:08:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 29 (index 1/83) +[05/24 16:08:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 29 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_29_ceiling.xml +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=29, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:08:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 16:08:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 29 episode 0/2 collected=0/2 +[05/24 16:08:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 29 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=True +[05/24 16:09:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_29_ceiling.xml +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=29, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:09:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker' +[05/24 16:09:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 29 episode 1/2 collected=1/2 +[05/24 16:09:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 29 episode 1 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 16:10:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_29: 2 episodes +[05/24 16:10:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 447 timesteps +[05/24 16:10:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_29 +[05/24 16:10:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_29 in 4.99s (batch: 4.82s, save: 0.16s) +[05/24 16:10:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_29 +[05/24 16:10:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 29: 1/2 successful episodes +[05/24 16:10:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 43 (index 2/83) +[05/24 16:10:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 43 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:10:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_43_ceiling.xml +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=43, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:10:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:10:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 43 episode 0/1 collected=0/2 +[05/24 16:10:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 43 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:12:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_43: 1 episodes +[05/24 16:12:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_43 +[05/24 16:12:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_43 in 1.95s (batch: 1.86s, save: 0.10s) +[05/24 16:12:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_43 +[05/24 16:12:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 43: 0/1 successful episodes +[05/24 16:12:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 55 (index 3/83) +[05/24 16:12:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 55 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:12:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_55_ceiling.xml +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=55, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:12:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:12:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 55 episode 0/1 collected=0/2 +[05/24 16:12:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 55 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 16:13:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_55: 1 episodes +[05/24 16:13:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_55 +[05/24 16:13:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_55 in 1.94s (batch: 1.82s, save: 0.12s) +[05/24 16:13:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_55 +[05/24 16:13:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 55: 0/1 successful episodes +[05/24 16:13:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 60 (index 4/83) +[05/24 16:13:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 60 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:13:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_60_ceiling.xml +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=60, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:13:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 16:13:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 60 episode 0/2 collected=0/2 +[05/24 16:13:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 60 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:15:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_60_ceiling.xml +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=60, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 16:15:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:15:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 60 episode 1/2 collected=1/2 +[05/24 16:15:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 60 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=True +[05/24 16:15:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_60: 2 episodes +[05/24 16:15:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:15:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:15:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_60 +[05/24 16:15:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_60 in 4.92s (batch: 4.81s, save: 0.12s) +[05/24 16:15:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_60 +[05/24 16:15:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 60: 1/2 successful episodes +[05/24 16:15:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 82 (index 5/83) +[05/24 16:15:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 82 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_82_ceiling.xml +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=82, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:15:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue translucent soap bottle with pump' +[05/24 16:15:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 82 episode 0/1 collected=0/2 +[05/24 16:15:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 82 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_2 completed with success=False +[05/24 16:16:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_82: 1 episodes +[05/24 16:16:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:47 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_82 +[05/24 16:16:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_82 in 2.67s (batch: 2.51s, save: 0.16s) +[05/24 16:16:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_82 +[05/24 16:16:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 82: 0/1 successful episodes +[05/24 16:16:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 85 (index 6/83) +[05/24 16:16:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 85 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:16:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_85_ceiling.xml +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=85, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:16:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the fork' +[05/24 16:16:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 85 episode 0/2 collected=0/2 +[05/24 16:16:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:17:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 85 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:17:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_85_ceiling.xml +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=85, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:17:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 16:17:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 85 episode 1/2 collected=1/2 +[05/24 16:17:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 85 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 16:18:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_85: 2 episodes +[05/24 16:18:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 153 timesteps +[05/24 16:18:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:54 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_85 +[05/24 16:18:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_85 in 4.87s (batch: 4.74s, save: 0.13s) +[05/24 16:18:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_85 +[05/24 16:18:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 85: 1/2 successful episodes +[05/24 16:18:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 97 (index 7/83) +[05/24 16:18:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 97 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:18:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_97_ceiling.xml +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=97, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 102 objects +[05/24 16:19:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle' +[05/24 16:19:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 97 episode 0/2 collected=0/2 +[05/24 16:19:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 97 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_3_0_9 completed with success=False +[05/24 16:20:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_97_ceiling.xml +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=97, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 102 objects +[05/24 16:20:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:20:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 97 episode 1/2 collected=1/2 +[05/24 16:20:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 97 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:21:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_97: 2 episodes +[05/24 16:21:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 16:21:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_97 +[05/24 16:21:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_97 in 3.63s (batch: 3.52s, save: 0.12s) +[05/24 16:21:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_97 +[05/24 16:21:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 97: 1/2 successful episodes +[05/24 16:21:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 109 (index 8/83) +[05/24 16:21:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 109 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:21:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_109_ceiling.xml +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=109, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 16:21:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 109 episode 0/2 collected=0/2 +[05/24 16:21:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 109 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 16:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_109_ceiling.xml +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=109, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker with lid' +[05/24 16:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 109 episode 1/2 collected=1/2 +[05/24 16:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 109 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 16:22:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_109: 2 episodes +[05/24 16:22:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 16:23:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_109 +[05/24 16:23:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_109 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:23:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_109 +[05/24 16:23:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 109: 1/2 successful episodes +[05/24 16:23:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 125 (index 9/83) +[05/24 16:23:04 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 125 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:23:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_125_ceiling.xml +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=125, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:23:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 16:23:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 125 episode 0/2 collected=0/2 +[05/24 16:23:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 125 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:24:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_125_ceiling.xml +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=125, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:24:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:24:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 125 episode 1/2 collected=1/2 +[05/24 16:24:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:24:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 125 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:24:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_125: 2 episodes +[05/24 16:24:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:24:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:24:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_125 +[05/24 16:24:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_125 in 3.54s (batch: 3.43s, save: 0.12s) +[05/24 16:24:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_125 +[05/24 16:24:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 125: 1/2 successful episodes +[05/24 16:24:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 127 (index 10/83) +[05/24 16:24:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 127 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:24:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:24:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_127_ceiling.xml +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=127, scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:24:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:24:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:24:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:24:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 16:24:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 127 episode 0/1 collected=0/2 +[05/24 16:24:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:24:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 127 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_2 completed with success=False +[05/24 16:26:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_127: 1 episodes +[05/24 16:26:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_127 +[05/24 16:26:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_127 in 1.92s (batch: 1.84s, save: 0.09s) +[05/24 16:26:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_127 +[05/24 16:26:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 127: 0/1 successful episodes +[05/24 16:26:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 144 (index 11/83) +[05/24 16:26:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 144 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:26:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_144_ceiling.xml +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=144, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:26:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 16:26:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 144 episode 0/2 collected=0/2 +[05/24 16:26:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 144 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=True +[05/24 16:26:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_144_ceiling.xml +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=144, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:26:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:26:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 144 episode 1/2 collected=1/2 +[05/24 16:26:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 144 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:27:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_144: 2 episodes +[05/24 16:27:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:27:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 16:27:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_144 +[05/24 16:27:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_144 in 4.60s (batch: 4.53s, save: 0.07s) +[05/24 16:27:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_144 +[05/24 16:27:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 144: 2/2 successful episodes +[05/24 16:27:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 152 (index 12/83) +[05/24 16:27:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 152 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:27:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_152_ceiling.xml +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=152, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 79 objects +[05/24 16:27:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:27:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 152 episode 0/1 collected=0/2 +[05/24 16:27:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 152 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_152: 1 episodes +[05/24 16:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 128 timesteps +[05/24 16:27:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_152 +[05/24 16:27:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_152 in 2.30s (batch: 2.26s, save: 0.04s) +[05/24 16:27:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_152 +[05/24 16:27:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 152: 1/1 successful episodes +[05/24 16:27:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 172 (index 13/83) +[05/24 16:27:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 172 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:27:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_172_ceiling.xml +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=172, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means' +[05/24 16:27:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 172 episode 0/1 collected=0/2 +[05/24 16:27:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 172 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_8 completed with success=False +[05/24 16:29:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_172: 1 episodes +[05/24 16:29:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:29:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_172 +[05/24 16:29:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_172 in 1.93s (batch: 1.81s, save: 0.11s) +[05/24 16:29:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_172 +[05/24 16:29:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 172: 0/1 successful episodes +[05/24 16:29:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 179 (index 14/83) +[05/24 16:29:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 179 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:29:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_179_ceiling.xml +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=179, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:29:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:29:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 179 episode 0/2 collected=0/2 +[05/24 16:29:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 179 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_2_0_6 completed with success=False +[05/24 16:30:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_179_ceiling.xml +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=179, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:31:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 16:31:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 179 episode 1/2 collected=1/2 +[05/24 16:31:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 179 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 16:32:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_179: 2 episodes +[05/24 16:32:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_179 +[05/24 16:32:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_179 in 5.09s (batch: 4.92s, save: 0.17s) +[05/24 16:32:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_179 +[05/24 16:32:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 179: 0/2 successful episodes +[05/24 16:32:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 191 (index 15/83) +[05/24 16:32:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 191 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:32:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_191_ceiling.xml +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=191, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:32:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 16:32:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 191 episode 0/1 collected=0/2 +[05/24 16:32:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 191 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_6 completed with success=True +[05/24 16:32:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_191: 1 episodes +[05/24 16:32:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 16:32:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_191 +[05/24 16:32:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_191 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 16:32:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_191 +[05/24 16:32:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 191: 1/1 successful episodes +[05/24 16:32:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 210 (index 16/83) +[05/24 16:32:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 210 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:32:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_210_ceiling.xml +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=210, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 16:32:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:32:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 210 episode 0/1 collected=0/2 +[05/24 16:32:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 210 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_3 completed with success=True +[05/24 16:33:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_210: 1 episodes +[05/24 16:33:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:33:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_210 +[05/24 16:33:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_210 in 1.76s (batch: 1.63s, save: 0.13s) +[05/24 16:33:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_210 +[05/24 16:33:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 210: 1/1 successful episodes +[05/24 16:33:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 221 (index 17/83) +[05/24 16:33:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 221 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:33:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_221_ceiling.xml +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=221, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:33:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:33:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 221 episode 0/2 collected=0/2 +[05/24 16:33:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 221 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_6 completed with success=False +[05/24 16:34:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_221_ceiling.xml +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=221, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:34:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 16:34:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 221 episode 1/2 collected=1/2 +[05/24 16:34:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 221 episode 1 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 16:36:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_221: 2 episodes +[05/24 16:36:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:36:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_221 +[05/24 16:36:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_221 in 3.81s (batch: 3.64s, save: 0.17s) +[05/24 16:36:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_221 +[05/24 16:36:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 221: 0/2 successful episodes +[05/24 16:36:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 238 (index 18/83) +[05/24 16:36:16 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 238 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:36:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_238_ceiling.xml +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=238, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 16:36:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray cup' +[05/24 16:36:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 238 episode 0/1 collected=0/2 +[05/24 16:36:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:36:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 238 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_2 completed with success=True +[05/24 16:36:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_238: 1 episodes +[05/24 16:36:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:36:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:36:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_238 +[05/24 16:36:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_238 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:36:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_238 +[05/24 16:36:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 238: 1/1 successful episodes +[05/24 16:36:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 241 (index 19/83) +[05/24 16:36:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 241 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:36:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:36:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_241_ceiling.xml +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=241, scene_dataset=procthor-10k, data_split=val +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:36:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:36:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:36:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:36:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:36:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:36:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 16:36:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 241 episode 0/2 collected=0/2 +[05/24 16:36:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:36:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 241 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 16:37:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_241_ceiling.xml +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=241, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:37:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:37:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 241 episode 1/2 collected=1/2 +[05/24 16:37:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 241 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:39:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_241: 2 episodes +[05/24 16:39:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:14 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_241 +[05/24 16:39:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_241 in 4.94s (batch: 4.78s, save: 0.16s) +[05/24 16:39:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_241 +[05/24 16:39:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 241: 0/2 successful episodes +[05/24 16:39:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 254 (index 20/83) +[05/24 16:39:14 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 254 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:39:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_254_ceiling.xml +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=254, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:39:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:39:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 254 episode 0/1 collected=0/2 +[05/24 16:39:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:39:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 254 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 16:40:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_254: 1 episodes +[05/24 16:40:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_254 +[05/24 16:40:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_254 in 1.92s (batch: 1.83s, save: 0.09s) +[05/24 16:40:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_254 +[05/24 16:40:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 254: 0/1 successful episodes +[05/24 16:40:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 270 (index 21/83) +[05/24 16:40:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 270 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:40:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_270_ceiling.xml +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=270, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:41:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:41:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 270 episode 0/2 collected=0/2 +[05/24 16:41:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 270 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:41:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_270_ceiling.xml +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=270, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 16:41:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 16:41:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 270 episode 1/2 collected=1/2 +[05/24 16:41:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 270 episode 1 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_8 completed with success=False +[05/24 16:43:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_270: 2 episodes +[05/24 16:43:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 206 timesteps +[05/24 16:43:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_270 +[05/24 16:43:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_270 in 4.85s (batch: 4.71s, save: 0.13s) +[05/24 16:43:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_270 +[05/24 16:43:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 270: 1/2 successful episodes +[05/24 16:43:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 274 (index 22/83) +[05/24 16:43:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 274 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:43:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_274_ceiling.xml +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=274, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:43:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 16:43:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 274 episode 0/1 collected=0/2 +[05/24 16:43:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 274 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_6 completed with success=True +[05/24 16:43:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_274: 1 episodes +[05/24 16:43:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:43:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_274 +[05/24 16:43:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_274 in 2.28s (batch: 2.25s, save: 0.03s) +[05/24 16:43:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_274 +[05/24 16:43:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 274: 1/1 successful episodes +[05/24 16:43:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 300 (index 23/83) +[05/24 16:43:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 300 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:43:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_300_ceiling.xml +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=300, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:43:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:43:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 300 episode 0/2 collected=0/2 +[05/24 16:43:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 300 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=True +[05/24 16:44:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_300_ceiling.xml +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=300, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:44:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:44:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 300 episode 1/2 collected=1/2 +[05/24 16:44:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 300 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:45:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_300: 2 episodes +[05/24 16:45:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:45:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:45:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_300 +[05/24 16:45:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_300 in 3.61s (batch: 3.50s, save: 0.11s) +[05/24 16:45:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_300 +[05/24 16:45:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 300: 1/2 successful episodes +[05/24 16:45:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 303 (index 24/83) +[05/24 16:45:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 303 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:45:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_303_ceiling.xml +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=303, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:45:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent smooth glass conical bowl' +[05/24 16:45:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 303 episode 0/1 collected=0/2 +[05/24 16:45:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 303 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_3 completed with success=True +[05/24 16:45:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_303: 1 episodes +[05/24 16:45:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 16:45:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:45:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_303 +[05/24 16:45:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_303 in 1.64s (batch: 1.61s, save: 0.04s) +[05/24 16:45:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_303 +[05/24 16:45:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 303: 1/1 successful episodes +[05/24 16:45:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 323 (index 25/83) +[05/24 16:45:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 323 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:45:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:45:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_323_ceiling.xml +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=323, scene_dataset=procthor-10k, data_split=val +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:45:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:45:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:45:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:45:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:45:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:45:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the pepper shaker' +[05/24 16:45:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 323 episode 0/2 collected=0/2 +[05/24 16:45:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:45:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 323 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=False +[05/24 16:47:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_323_ceiling.xml +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=323, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:47:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:47:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 323 episode 1/2 collected=1/2 +[05/24 16:47:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 323 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 16:48:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_323: 2 episodes +[05/24 16:48:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_323 +[05/24 16:48:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_323 in 5.06s (batch: 4.89s, save: 0.17s) +[05/24 16:48:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_323 +[05/24 16:48:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 323: 0/2 successful episodes +[05/24 16:48:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 325 (index 26/83) +[05/24 16:48:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 325 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:48:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_325_ceiling.xml +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=325, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:48:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:48:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 325 episode 0/1 collected=0/2 +[05/24 16:48:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:49:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 325 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_8 completed with success=True +[05/24 16:49:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_325: 1 episodes +[05/24 16:49:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:49:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:49:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_325 +[05/24 16:49:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_325 in 2.17s (batch: 2.14s, save: 0.03s) +[05/24 16:49:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_325 +[05/24 16:49:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 325: 1/1 successful episodes +[05/24 16:49:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 346 (index 27/83) +[05/24 16:49:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 346 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:49:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:49:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_346_ceiling.xml +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=346, scene_dataset=procthor-10k, data_split=val +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 16:49:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:49:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:49:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:49:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:49:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:49:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot' +[05/24 16:49:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 346 episode 0/1 collected=0/2 +[05/24 16:49:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:49:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 346 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=False +[05/24 16:50:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_346: 1 episodes +[05/24 16:50:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_346 +[05/24 16:50:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_346 in 1.89s (batch: 1.80s, save: 0.09s) +[05/24 16:50:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_346 +[05/24 16:50:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 346: 0/1 successful episodes +[05/24 16:50:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 348 (index 28/83) +[05/24 16:50:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 348 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:50:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_348_ceiling.xml +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=348, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:50:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:50:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 348 episode 0/2 collected=0/2 +[05/24 16:50:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 348 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:50:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_348_ceiling.xml +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=348, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 36 objects +[05/24 16:50:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:50:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 348 episode 1/2 collected=1/2 +[05/24 16:50:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 348 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:51:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_348: 2 episodes +[05/24 16:51:06 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:51:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_348 +[05/24 16:51:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_348 in 3.58s (batch: 3.53s, save: 0.05s) +[05/24 16:51:10 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_348 +[05/24 16:51:10 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 348: 2/2 successful episodes +[05/24 16:51:10 Worker 0 INFO pipeline.py:473] Worker 0 starting house 360 (index 29/83) +[05/24 16:51:10 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 360 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:51:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_360_ceiling.xml +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=360, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 7 objects +[05/24 16:51:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:51:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 360 episode 0/1 collected=0/2 +[05/24 16:51:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 360 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 16:51:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_360: 1 episodes +[05/24 16:51:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:51:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:25 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_360 +[05/24 16:51:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_360 in 2.26s (batch: 2.21s, save: 0.04s) +[05/24 16:51:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_360 +[05/24 16:51:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 360: 1/1 successful episodes +[05/24 16:51:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 373 (index 30/83) +[05/24 16:51:26 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 373 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:51:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:51:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_373_ceiling.xml +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=373, scene_dataset=procthor-10k, data_split=val +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:51:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:51:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:51:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:51:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:51:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:51:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:51:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 373 episode 0/2 collected=0/2 +[05/24 16:51:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 373 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:52:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_373_ceiling.xml +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=373, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:52:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:52:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 373 episode 1/2 collected=1/2 +[05/24 16:52:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 373 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:52:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_373: 2 episodes +[05/24 16:52:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_373 +[05/24 16:53:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_373 in 4.61s (batch: 4.50s, save: 0.11s) +[05/24 16:53:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_373 +[05/24 16:53:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 373: 1/2 successful episodes +[05/24 16:53:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 386 (index 31/83) +[05/24 16:53:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 386 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:53:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_386_ceiling.xml +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=386, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:53:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with pump' +[05/24 16:53:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 386 episode 0/2 collected=0/2 +[05/24 16:53:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 386 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=True +[05/24 16:53:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_386_ceiling.xml +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=386, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:53:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:53:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 386 episode 1/2 collected=1/2 +[05/24 16:53:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:53:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:54:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 386 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=False +[05/24 16:54:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_386: 2 episodes +[05/24 16:54:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 16:54:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:54:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_386 +[05/24 16:54:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_386 in 4.83s (batch: 4.71s, save: 0.11s) +[05/24 16:54:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_386 +[05/24 16:54:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 386: 1/2 successful episodes +[05/24 16:54:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 397 (index 32/83) +[05/24 16:54:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 397 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:54:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_397_ceiling.xml +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=397, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 16:54:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray bowl' +[05/24 16:54:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 397 episode 0/1 collected=0/2 +[05/24 16:54:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 397 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=True +[05/24 16:54:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_397: 1 episodes +[05/24 16:54:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:54:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:54:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_397 +[05/24 16:54:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_397 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 16:54:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_397 +[05/24 16:54:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 397: 1/1 successful episodes +[05/24 16:54:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 412 (index 33/83) +[05/24 16:54:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 412 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:54:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_412_ceiling.xml +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=412, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:55:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the simple matte blue bowl' +[05/24 16:55:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 412 episode 0/2 collected=0/2 +[05/24 16:55:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:02 Worker 0 INFO pipeline.py:1114] Worker 0 house 412 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=False +[05/24 16:56:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_412_ceiling.xml +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=412, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:56:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:56:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 412 episode 1/2 collected=1/2 +[05/24 16:56:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 412 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:57:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_412: 2 episodes +[05/24 16:57:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:18 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_412 +[05/24 16:57:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_412 in 5.04s (batch: 4.84s, save: 0.20s) +[05/24 16:57:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_412 +[05/24 16:57:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 412: 0/2 successful episodes +[05/24 16:57:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 416 (index 34/83) +[05/24 16:57:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 416 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:57:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_416_ceiling.xml +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=416, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:57:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:57:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 416 episode 0/1 collected=0/2 +[05/24 16:57:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 416 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:58:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_416: 1 episodes +[05/24 16:58:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:58:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_416 +[05/24 16:58:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_416 in 2.56s (batch: 2.47s, save: 0.09s) +[05/24 16:58:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_416 +[05/24 16:58:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 416: 0/1 successful episodes +[05/24 16:58:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 438 (index 35/83) +[05/24 16:58:46 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 438 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:58:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_438_ceiling.xml +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=438, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 16:58:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 16:58:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 438 episode 0/1 collected=0/2 +[05/24 16:58:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 438 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 16:59:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_438: 1 episodes +[05/24 16:59:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:59:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:59:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_438 +[05/24 16:59:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_438 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 16:59:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_438 +[05/24 16:59:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 438: 0/1 successful episodes +[05/24 16:59:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 439 (index 36/83) +[05/24 16:59:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 439 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 16:59:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_439_ceiling.xml +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=439, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 16:59:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:59:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 439 episode 0/2 collected=0/2 +[05/24 16:59:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 439 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True +[05/24 17:00:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_439_ceiling.xml +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=439, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:00:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:00:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 439 episode 1/2 collected=1/2 +[05/24 17:00:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 439 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=True +[05/24 17:00:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_439: 2 episodes +[05/24 17:00:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 42 timesteps +[05/24 17:00:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 17:00:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:26 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_439 +[05/24 17:00:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_439 in 3.24s (batch: 3.18s, save: 0.05s) +[05/24 17:00:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_439 +[05/24 17:00:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 439: 2/2 successful episodes +[05/24 17:00:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 468 (index 37/83) +[05/24 17:00:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 468 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:00:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_468_ceiling.xml +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=468, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:00:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 17:00:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 468 episode 0/1 collected=0/2 +[05/24 17:00:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 468 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_8 completed with success=True +[05/24 17:00:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_468: 1 episodes +[05/24 17:00:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:00:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_468 +[05/24 17:00:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_468 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:00:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_468 +[05/24 17:00:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 468: 1/1 successful episodes +[05/24 17:00:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 469 (index 38/83) +[05/24 17:00:42 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 469 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:00:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_469_ceiling.xml +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=469, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:00:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark smooth rounded matte cup' +[05/24 17:00:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 469 episode 0/2 collected=0/2 +[05/24 17:00:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 469 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=True +[05/24 17:00:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_469_ceiling.xml +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=469, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:01:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:01:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 469 episode 1/2 collected=1/2 +[05/24 17:01:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 469 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:02:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_469: 2 episodes +[05/24 17:02:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 17:02:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:02:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:17 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_469 +[05/24 17:02:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_469 in 3.86s (batch: 3.74s, save: 0.12s) +[05/24 17:02:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_469 +[05/24 17:02:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 469: 1/2 successful episodes +[05/24 17:02:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 489 (index 39/83) +[05/24 17:02:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 489 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:02:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_489_ceiling.xml +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=489, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 17:02:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black matte cooking pot with handles' +[05/24 17:02:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 489 episode 0/1 collected=0/2 +[05/24 17:02:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 489 episode 0 object pot_327edb884d62930ab5c6e8fce062daba_1_0_8 completed with success=True +[05/24 17:02:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_489: 1 episodes +[05/24 17:02:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 79 timesteps +[05/24 17:02:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_489 +[05/24 17:02:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_489 in 1.65s (batch: 1.61s, save: 0.03s) +[05/24 17:02:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_489 +[05/24 17:02:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 489: 1/1 successful episodes +[05/24 17:02:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 490 (index 40/83) +[05/24 17:02:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 490 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:02:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_490_ceiling.xml +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=490, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:02:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle utensil' +[05/24 17:02:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 490 episode 0/2 collected=0/2 +[05/24 17:02:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 490 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 17:03:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_490_ceiling.xml +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=490, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:04:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:04:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 490 episode 1/2 collected=1/2 +[05/24 17:04:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 490 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=True +[05/24 17:04:14 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_490: 2 episodes +[05/24 17:04:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:04:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:04:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:04:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_490 +[05/24 17:04:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_490 in 4.67s (batch: 4.56s, save: 0.11s) +[05/24 17:04:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_490 +[05/24 17:04:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 490: 1/2 successful episodes +[05/24 17:04:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 509 (index 41/83) +[05/24 17:04:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 509 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:04:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_509_ceiling.xml +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=509, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:04:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 509 episode 0/1 collected=0/2 +[05/24 17:04:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 509 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:05:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_509: 1 episodes +[05/24 17:05:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 358 timesteps +[05/24 17:05:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_509 +[05/24 17:05:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_509 in 1.78s (batch: 1.71s, save: 0.07s) +[05/24 17:05:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_509 +[05/24 17:05:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 509: 1/1 successful episodes +[05/24 17:05:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 524 (index 42/83) +[05/24 17:05:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 524 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:05:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:19 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_524_ceiling.xml +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=524, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 2 objects +[05/24 17:05:19 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:19 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:19 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:19 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:19 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:05:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 524 episode 0/1 collected=0/2 +[05/24 17:05:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 524 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=True +[05/24 17:05:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_524: 1 episodes +[05/24 17:05:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 150 timesteps +[05/24 17:05:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_524 +[05/24 17:05:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_524 in 1.67s (batch: 1.63s, save: 0.04s) +[05/24 17:05:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_524 +[05/24 17:05:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 524: 1/1 successful episodes +[05/24 17:05:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 534 (index 43/83) +[05/24 17:05:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 534 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:05:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_534_ceiling.xml +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=534, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:05:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 17:05:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 534 episode 0/2 collected=0/2 +[05/24 17:05:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 534 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_8 completed with success=False +[05/24 17:07:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:07:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_534_ceiling.xml +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=534, scene_dataset=procthor-10k, data_split=val +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:07:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:07:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:07:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:07:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:07:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:07:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:07:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 534 episode 1/2 collected=1/2 +[05/24 17:07:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:07:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 534 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_8 completed with success=False +[05/24 17:08:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_534: 2 episodes +[05/24 17:08:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_534 +[05/24 17:08:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_534 in 3.70s (batch: 3.54s, save: 0.16s) +[05/24 17:08:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_534 +[05/24 17:08:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 534: 0/2 successful episodes +[05/24 17:08:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 540 (index 44/83) +[05/24 17:08:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 540 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:08:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_540_ceiling.xml +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=540, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:08:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:08:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 540 episode 0/1 collected=0/2 +[05/24 17:08:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 540 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_3 completed with success=False +[05/24 17:10:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_540: 1 episodes +[05/24 17:10:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_540 +[05/24 17:10:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_540 in 2.40s (batch: 2.31s, save: 0.09s) +[05/24 17:10:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_540 +[05/24 17:10:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 540: 0/1 successful episodes +[05/24 17:10:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 548 (index 45/83) +[05/24 17:10:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 548 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:10:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_548_ceiling.xml +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=548, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:10:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal rectangular box' +[05/24 17:10:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 548 episode 0/2 collected=0/2 +[05/24 17:10:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 548 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=False +[05/24 17:11:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_548_ceiling.xml +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=548, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:11:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the saltshaker' +[05/24 17:11:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 548 episode 1/2 collected=1/2 +[05/24 17:11:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 548 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 17:13:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_548: 2 episodes +[05/24 17:13:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:13:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:13:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_548 +[05/24 17:13:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_548 in 3.73s (batch: 3.56s, save: 0.16s) +[05/24 17:13:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_548 +[05/24 17:13:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 548: 0/2 successful episodes +[05/24 17:13:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 567 (index 46/83) +[05/24 17:13:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 567 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:13:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_567_ceiling.xml +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=567, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:13:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:13:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 567 episode 0/1 collected=0/2 +[05/24 17:13:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 567 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:14:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_567: 1 episodes +[05/24 17:14:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_567 +[05/24 17:14:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_567 in 1.83s (batch: 1.74s, save: 0.09s) +[05/24 17:14:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_567 +[05/24 17:14:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 567: 0/1 successful episodes +[05/24 17:14:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 571 (index 47/83) +[05/24 17:14:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 571 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:14:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_571_ceiling.xml +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=571, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:14:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 571 episode 0/2 collected=0/2 +[05/24 17:14:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 571 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 17:15:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_571_ceiling.xml +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=571, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:15:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black plastic remote' +[05/24 17:15:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 571 episode 1/2 collected=1/2 +[05/24 17:15:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 571 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_4 completed with success=False +[05/24 17:17:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_571: 2 episodes +[05/24 17:17:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:17:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:17:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_571 +[05/24 17:17:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_571 in 4.91s (batch: 4.75s, save: 0.16s) +[05/24 17:17:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_571 +[05/24 17:17:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 571: 0/2 successful episodes +[05/24 17:17:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 583 (index 48/83) +[05/24 17:17:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 583 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:17:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_583_ceiling.xml +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=583, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:17:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:17:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 583 episode 0/2 collected=0/2 +[05/24 17:17:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 583 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=False +[05/24 17:18:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_583_ceiling.xml +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=583, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 17:18:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:18:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 583 episode 1/2 collected=1/2 +[05/24 17:18:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 583 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:18:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_583: 2 episodes +[05/24 17:18:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:18:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:19:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_583 +[05/24 17:19:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_583 in 4.66s (batch: 4.55s, save: 0.11s) +[05/24 17:19:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_583 +[05/24 17:19:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 583: 1/2 successful episodes +[05/24 17:19:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 588 (index 49/83) +[05/24 17:19:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 588 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:19:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_588_ceiling.xml +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=588, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 17:19:02 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:19:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 17:19:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 588 episode 0/1 collected=0/2 +[05/24 17:19:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 588 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_2 completed with success=False +[05/24 17:20:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_588: 1 episodes +[05/24 17:20:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_588 +[05/24 17:20:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_588 in 1.87s (batch: 1.77s, save: 0.10s) +[05/24 17:20:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_588 +[05/24 17:20:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 588: 0/1 successful episodes +[05/24 17:20:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 609 (index 50/83) +[05/24 17:20:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 609 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:20:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_609_ceiling.xml +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=609, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 17:20:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:20:19 Worker 0 INFO pipeline.py:1050] Worker 0 house 609 episode 0/1 collected=0/2 +[05/24 17:20:19 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 609 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:21:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_609: 1 episodes +[05/24 17:21:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_609 +[05/24 17:21:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_609 in 1.91s (batch: 1.82s, save: 0.09s) +[05/24 17:21:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_609 +[05/24 17:21:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 609: 0/1 successful episodes +[05/24 17:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 620 (index 51/83) +[05/24 17:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 620 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_620_ceiling.xml +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=620, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 17:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 620 episode 0/2 collected=0/2 +[05/24 17:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 620 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=False +[05/24 17:22:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_620_ceiling.xml +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=620, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 29 objects +[05/24 17:23:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black remote' +[05/24 17:23:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 620 episode 1/2 collected=1/2 +[05/24 17:23:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 620 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 17:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_620: 2 episodes +[05/24 17:23:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 151 timesteps +[05/24 17:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_620 +[05/24 17:23:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_620 in 3.50s (batch: 3.37s, save: 0.13s) +[05/24 17:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_620 +[05/24 17:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 620: 1/2 successful episodes +[05/24 17:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 631 (index 52/83) +[05/24 17:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 631 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_631_ceiling.xml +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=631, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:23:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver kettle' +[05/24 17:23:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 631 episode 0/1 collected=0/2 +[05/24 17:23:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 631 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:25:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_631: 1 episodes +[05/24 17:25:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_631 +[05/24 17:25:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_631 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 17:25:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_631 +[05/24 17:25:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 631: 0/1 successful episodes +[05/24 17:25:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 638 (index 53/83) +[05/24 17:25:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 638 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:25:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_638_ceiling.xml +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=638, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:25:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tomato' +[05/24 17:25:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 638 episode 0/2 collected=0/2 +[05/24 17:25:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 638 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=False +[05/24 17:26:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_638_ceiling.xml +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=638, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:26:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle utensil' +[05/24 17:26:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 638 episode 1/2 collected=1/2 +[05/24 17:26:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 638 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 17:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_638: 2 episodes +[05/24 17:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:27:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_638 +[05/24 17:27:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_638 in 5.23s (batch: 5.06s, save: 0.17s) +[05/24 17:27:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_638 +[05/24 17:27:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 638: 0/2 successful episodes +[05/24 17:27:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 659 (index 54/83) +[05/24 17:27:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 659 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:27:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_659_ceiling.xml +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=659, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:28:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:28:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 659 episode 0/2 collected=0/2 +[05/24 17:28:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 659 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:29:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_659_ceiling.xml +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=659, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 17:29:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic bowl' +[05/24 17:29:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 659 episode 1/2 collected=1/2 +[05/24 17:29:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 659 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_6 completed with success=True +[05/24 17:30:06 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_659: 2 episodes +[05/24 17:30:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:30:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 141 timesteps +[05/24 17:30:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:10 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_659 +[05/24 17:30:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_659 in 3.59s (batch: 3.43s, save: 0.16s) +[05/24 17:30:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_659 +[05/24 17:30:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 659: 1/2 successful episodes +[05/24 17:30:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 663 (index 55/83) +[05/24 17:30:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 663 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:30:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_663_ceiling.xml +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=663, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:30:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:30:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 663 episode 0/1 collected=0/2 +[05/24 17:30:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 663 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 17:31:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_663: 1 episodes +[05/24 17:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_663 +[05/24 17:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_663 in 2.45s (batch: 2.37s, save: 0.09s) +[05/24 17:31:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_663 +[05/24 17:31:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 663: 0/1 successful episodes +[05/24 17:31:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 682 (index 56/83) +[05/24 17:31:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 682 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:31:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_682_ceiling.xml +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=682, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:31:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:31:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 682 episode 0/1 collected=0/2 +[05/24 17:31:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 682 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=False +[05/24 17:32:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_682: 1 episodes +[05/24 17:32:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:32:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:32:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_682 +[05/24 17:32:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_682 in 2.41s (batch: 2.30s, save: 0.10s) +[05/24 17:32:40 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_682 +[05/24 17:32:40 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 682: 0/1 successful episodes +[05/24 17:32:40 Worker 0 INFO pipeline.py:473] Worker 0 starting house 694 (index 57/83) +[05/24 17:32:40 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 694 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:32:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_694_ceiling.xml +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=694, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:32:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 17:32:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 694 episode 0/2 collected=0/2 +[05/24 17:32:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 694 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:33:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_694_ceiling.xml +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=694, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:33:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:33:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 694 episode 1/2 collected=1/2 +[05/24 17:33:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 694 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:34:37 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_694: 2 episodes +[05/24 17:34:37 Worker 0 INFO save_utils.py:284] Preparing episode data: 117 timesteps +[05/24 17:34:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:34:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_694 +[05/24 17:34:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_694 in 3.71s (batch: 3.59s, save: 0.12s) +[05/24 17:34:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_694 +[05/24 17:34:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 694: 1/2 successful episodes +[05/24 17:34:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 699 (index 58/83) +[05/24 17:34:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 699 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:34:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_699_ceiling.xml +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=699, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:34:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:34:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 699 episode 0/1 collected=0/2 +[05/24 17:34:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:35:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 699 episode 0 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_6 completed with success=True +[05/24 17:35:09 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_699: 1 episodes +[05/24 17:35:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:35:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_699 +[05/24 17:35:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_699 in 2.30s (batch: 2.27s, save: 0.03s) +[05/24 17:35:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_699 +[05/24 17:35:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 699: 1/1 successful episodes +[05/24 17:35:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 720 (index 59/83) +[05/24 17:35:12 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 720 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:35:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_720_ceiling.xml +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=720, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 17:35:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the simple matte blue bowl' +[05/24 17:35:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 720 episode 0/1 collected=0/2 +[05/24 17:35:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:19 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 720 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_3 completed with success=True +[05/24 17:36:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_720: 1 episodes +[05/24 17:36:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 291 timesteps +[05/24 17:36:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_720 +[05/24 17:36:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_720 in 1.74s (batch: 1.67s, save: 0.06s) +[05/24 17:36:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_720 +[05/24 17:36:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 720: 1/1 successful episodes +[05/24 17:36:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 733 (index 60/83) +[05/24 17:36:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 733 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:36:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_733_ceiling.xml +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=733, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:36:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:36:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 733 episode 0/2 collected=0/2 +[05/24 17:36:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:36:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 733 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:36:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_733_ceiling.xml +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=733, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 17:36:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:36:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 733 episode 1/2 collected=1/2 +[05/24 17:36:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 733 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 17:38:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_733: 2 episodes +[05/24 17:38:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:38:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:38:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_733 +[05/24 17:38:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_733 in 4.69s (batch: 4.58s, save: 0.11s) +[05/24 17:38:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_733 +[05/24 17:38:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 733: 1/2 successful episodes +[05/24 17:38:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 742 (index 61/83) +[05/24 17:38:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 742 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:38:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_742_ceiling.xml +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=742, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 70 objects +[05/24 17:38:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:38:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 742 episode 0/1 collected=0/2 +[05/24 17:38:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 742 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_9 completed with success=True +[05/24 17:38:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_742: 1 episodes +[05/24 17:38:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 17:38:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_742 +[05/24 17:38:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_742 in 1.62s (batch: 1.59s, save: 0.03s) +[05/24 17:38:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_742 +[05/24 17:38:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 742: 1/1 successful episodes +[05/24 17:38:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 761 (index 62/83) +[05/24 17:38:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 761 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:38:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_761_ceiling.xml +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=761, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:38:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:38:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 761 episode 0/2 collected=0/2 +[05/24 17:38:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 761 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:40:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_761_ceiling.xml +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=761, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:40:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:40:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 761 episode 1/2 collected=1/2 +[05/24 17:40:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 761 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 17:41:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_761: 2 episodes +[05/24 17:41:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:41 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:41 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_761 +[05/24 17:41:41 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_761 in 5.02s (batch: 4.85s, save: 0.17s) +[05/24 17:41:42 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_761 +[05/24 17:41:42 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 761: 0/2 successful episodes +[05/24 17:41:42 Worker 0 INFO pipeline.py:473] Worker 0 starting house 764 (index 63/83) +[05/24 17:41:42 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 764 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:41:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_764_ceiling.xml +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=764, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:41:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny polished metal spoon' +[05/24 17:41:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 764 episode 0/1 collected=0/2 +[05/24 17:41:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 764 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:41:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_764: 1 episodes +[05/24 17:41:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 53 timesteps +[05/24 17:41:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:57 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_764 +[05/24 17:41:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_764 in 1.56s (batch: 1.53s, save: 0.03s) +[05/24 17:41:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_764 +[05/24 17:41:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 764: 1/1 successful episodes +[05/24 17:41:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 783 (index 64/83) +[05/24 17:41:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 783 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:41:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_783_ceiling.xml +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=783, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 128 objects +[05/24 17:42:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:42:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 783 episode 0/1 collected=0/2 +[05/24 17:42:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 783 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_2 completed with success=False +[05/24 17:43:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_783: 1 episodes +[05/24 17:43:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_783 +[05/24 17:43:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_783 in 1.90s (batch: 1.79s, save: 0.11s) +[05/24 17:43:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_783 +[05/24 17:43:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 783: 0/1 successful episodes +[05/24 17:43:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 792 (index 65/83) +[05/24 17:43:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 792 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:43:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_792_ceiling.xml +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=792, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:43:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:43:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 792 episode 0/2 collected=0/2 +[05/24 17:43:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 792 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 17:45:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_792_ceiling.xml +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=792, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:45:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the tissue box' +[05/24 17:45:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 792 episode 1/2 collected=1/2 +[05/24 17:45:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 792 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 17:45:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_792: 2 episodes +[05/24 17:45:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:45:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 88 timesteps +[05/24 17:45:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_792 +[05/24 17:45:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_792 in 3.46s (batch: 3.34s, save: 0.12s) +[05/24 17:45:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_792 +[05/24 17:45:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 792: 1/2 successful episodes +[05/24 17:45:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 808 (index 66/83) +[05/24 17:45:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 808 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:45:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_808_ceiling.xml +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=808, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 43 objects +[05/24 17:45:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:45:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 808 episode 0/1 collected=0/2 +[05/24 17:45:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 808 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:45:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_808: 1 episodes +[05/24 17:45:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 118 timesteps +[05/24 17:45:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:45:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_808 +[05/24 17:45:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_808 in 1.70s (batch: 1.66s, save: 0.04s) +[05/24 17:45:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_808 +[05/24 17:45:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 808: 1/1 successful episodes +[05/24 17:45:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 827 (index 67/83) +[05/24 17:45:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 827 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:45:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_827_ceiling.xml +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=827, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:45:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 17:45:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 827 episode 0/2 collected=0/2 +[05/24 17:45:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 827 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_3 completed with success=False +[05/24 17:47:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_827_ceiling.xml +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=827, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:47:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 17:47:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 827 episode 1/2 collected=1/2 +[05/24 17:47:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 827 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=False +[05/24 17:48:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_827: 2 episodes +[05/24 17:48:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:48:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:48:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_827 +[05/24 17:48:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_827 in 3.80s (batch: 3.64s, save: 0.16s) +[05/24 17:48:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_827 +[05/24 17:48:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 827: 0/2 successful episodes +[05/24 17:48:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 839 (index 68/83) +[05/24 17:48:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 839 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:48:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_839_ceiling.xml +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=839, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:48:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 17:48:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 839 episode 0/2 collected=0/2 +[05/24 17:48:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 839 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 17:49:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_839_ceiling.xml +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=839, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:49:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:49:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 839 episode 1/2 collected=1/2 +[05/24 17:49:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:50:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 839 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:51:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_839: 2 episodes +[05/24 17:51:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_839 +[05/24 17:51:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_839 in 3.68s (batch: 3.52s, save: 0.16s) +[05/24 17:51:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_839 +[05/24 17:51:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 839: 0/2 successful episodes +[05/24 17:51:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 842 (index 69/83) +[05/24 17:51:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 842 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:51:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_842_ceiling.xml +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=842, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:51:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 17:51:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 842 episode 0/1 collected=0/2 +[05/24 17:51:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 842 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:52:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_842: 1 episodes +[05/24 17:52:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_842 +[05/24 17:52:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_842 in 1.87s (batch: 1.78s, save: 0.09s) +[05/24 17:52:25 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_842 +[05/24 17:52:25 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 842: 0/1 successful episodes +[05/24 17:52:25 Worker 0 INFO pipeline.py:473] Worker 0 starting house 860 (index 70/83) +[05/24 17:52:25 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 860 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:52:25 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_860_ceiling.xml +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=860, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:52:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red apple' +[05/24 17:52:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 860 episode 0/2 collected=0/2 +[05/24 17:52:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 860 episode 0 object apple_038a0ea9b393da66a161da588e6ecc2a_1_0_6 completed with success=False +[05/24 17:53:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_860_ceiling.xml +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=860, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 61 objects +[05/24 17:54:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 17:54:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 860 episode 1/2 collected=1/2 +[05/24 17:54:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 860 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 17:54:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_860: 2 episodes +[05/24 17:54:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_860 +[05/24 17:54:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_860 in 3.42s (batch: 3.29s, save: 0.12s) +[05/24 17:54:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_860 +[05/24 17:54:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 860: 1/2 successful episodes +[05/24 17:54:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 881 (index 71/83) +[05/24 17:54:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 881 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:54:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_881_ceiling.xml +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=881, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:54:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:54:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 881 episode 0/1 collected=0/2 +[05/24 17:54:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 881 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=False +[05/24 17:55:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_881: 1 episodes +[05/24 17:55:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_881 +[05/24 17:55:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_881 in 1.85s (batch: 1.76s, save: 0.09s) +[05/24 17:55:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_881 +[05/24 17:55:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 881: 0/1 successful episodes +[05/24 17:55:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 882 (index 72/83) +[05/24 17:55:49 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 882 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:55:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_882_ceiling.xml +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=882, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:55:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red tomato' +[05/24 17:55:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 882 episode 0/2 collected=0/2 +[05/24 17:55:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 882 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=True +[05/24 17:56:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_882_ceiling.xml +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=882, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 17:56:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the clear tapered cylindrical cup' +[05/24 17:56:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 882 episode 1/2 collected=1/2 +[05/24 17:56:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 882 episode 1 object cup_67f093f5ef32a2eb0bbce6a314bccf51_1_0_2 completed with success=True +[05/24 17:56:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_882: 2 episodes +[05/24 17:56:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:56:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:56:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_882 +[05/24 17:56:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_882 in 3.45s (batch: 3.39s, save: 0.06s) +[05/24 17:56:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_882 +[05/24 17:56:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 882: 2/2 successful episodes +[05/24 17:56:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 895 (index 73/83) +[05/24 17:56:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 895 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:56:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_895_ceiling.xml +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=895, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:56:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 17:56:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 895 episode 0/2 collected=0/2 +[05/24 17:56:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 895 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=False +[05/24 17:57:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_895_ceiling.xml +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=895, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 17:57:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:57:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 895 episode 1/2 collected=1/2 +[05/24 17:57:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 895 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 17:58:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_895: 2 episodes +[05/24 17:58:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:58:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:58:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:58:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_895 +[05/24 17:58:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_895 in 3.67s (batch: 3.49s, save: 0.18s) +[05/24 17:58:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_895 +[05/24 17:58:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 895: 0/2 successful episodes +[05/24 17:58:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 912 (index 74/83) +[05/24 17:58:58 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 912 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 17:58:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_912_ceiling.xml +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=912, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:59:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:59:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 912 episode 0/2 collected=0/2 +[05/24 17:59:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:00:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 912 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 18:00:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:00:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_912_ceiling.xml +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=912, scene_dataset=procthor-10k, data_split=val +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 18:00:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:00:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:00:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:00:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:00:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:00:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 18:00:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 912 episode 1/2 collected=1/2 +[05/24 18:00:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:00:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 912 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_2 completed with success=False +[05/24 18:01:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_912: 2 episodes +[05/24 18:01:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:01:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:01:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_912 +[05/24 18:01:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_912 in 3.95s (batch: 3.78s, save: 0.17s) +[05/24 18:01:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_912 +[05/24 18:01:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 912: 0/2 successful episodes +[05/24 18:01:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 913 (index 75/83) +[05/24 18:01:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 913 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:01:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:01:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_913_ceiling.xml +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=913, scene_dataset=procthor-10k, data_split=val +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 18:01:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:01:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:01:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:01:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:01:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 18:01:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 913 episode 0/1 collected=0/2 +[05/24 18:01:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:01:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:01:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 913 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 18:01:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_913: 1 episodes +[05/24 18:01:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 58 timesteps +[05/24 18:01:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:01:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_913 +[05/24 18:01:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_913 in 1.60s (batch: 1.57s, save: 0.03s) +[05/24 18:02:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_913 +[05/24 18:02:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 913: 1/1 successful episodes +[05/24 18:02:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 936 (index 76/83) +[05/24 18:02:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 936 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:02:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:02:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_936_ceiling.xml +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=936, scene_dataset=procthor-10k, data_split=val +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 18:02:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:02:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:02:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:02:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent glass bowl' +[05/24 18:02:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 936 episode 0/1 collected=0/2 +[05/24 18:02:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:02:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 936 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 18:03:05 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_936: 1 episodes +[05/24 18:03:05 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:03:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:07 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_936 +[05/24 18:03:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_936 in 2.04s (batch: 1.95s, save: 0.08s) +[05/24 18:03:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_936 +[05/24 18:03:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 936: 0/1 successful episodes +[05/24 18:03:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 937 (index 77/83) +[05/24 18:03:07 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 937 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:03:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_937_ceiling.xml +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=937, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 18:03:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 18:03:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 937 episode 0/2 collected=0/2 +[05/24 18:03:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:03:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 937 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=True +[05/24 18:03:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_937_ceiling.xml +[05/24 18:03:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=937, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 18:03:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender polished metal butter knife' +[05/24 18:03:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 937 episode 1/2 collected=1/2 +[05/24 18:03:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:03:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:03:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 937 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 18:03:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_937: 2 episodes +[05/24 18:03:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 18:03:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 18:03:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:03:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_937 +[05/24 18:03:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_937 in 4.36s (batch: 4.30s, save: 0.05s) +[05/24 18:03:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_937 +[05/24 18:03:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 937: 2/2 successful episodes +[05/24 18:03:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 951 (index 78/83) +[05/24 18:03:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 951 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:03:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:03:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_951_ceiling.xml +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=951, scene_dataset=procthor-10k, data_split=val +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 18:03:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:03:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:03:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:03:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:03:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 18:03:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 951 episode 0/1 collected=0/2 +[05/24 18:03:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:05:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 951 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 18:05:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_951: 1 episodes +[05/24 18:05:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:05:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:05:28 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_951 +[05/24 18:05:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_951 in 2.37s (batch: 2.29s, save: 0.08s) +[05/24 18:05:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_951 +[05/24 18:05:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 951: 0/1 successful episodes +[05/24 18:05:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 961 (index 79/83) +[05/24 18:05:28 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 961 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:05:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:05:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_961_ceiling.xml +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=961, scene_dataset=procthor-10k, data_split=val +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 18:05:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:05:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:05:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:05:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:05:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:05:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 18:05:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 961 episode 0/2 collected=0/2 +[05/24 18:05:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:05:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:06:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 961 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 18:06:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:07:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_961_ceiling.xml +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=961, scene_dataset=procthor-10k, data_split=val +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 18:07:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:07:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:07:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:07:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:07:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal ladle' +[05/24 18:07:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 961 episode 1/2 collected=1/2 +[05/24 18:07:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:07:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:08:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 961 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 18:08:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_961: 2 episodes +[05/24 18:08:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:08:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:08:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_961 +[05/24 18:08:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_961 in 4.78s (batch: 4.62s, save: 0.16s) +[05/24 18:08:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_961 +[05/24 18:08:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 961: 0/2 successful episodes +[05/24 18:08:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 973 (index 80/83) +[05/24 18:08:31 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 973 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:08:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:08:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_973_ceiling.xml +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=973, scene_dataset=procthor-10k, data_split=val +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 18:08:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:08:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:08:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:08:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:08:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:08:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 18:08:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 973 episode 0/2 collected=0/2 +[05/24 18:08:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:08:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:10:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 973 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 18:10:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:10:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_973_ceiling.xml +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=973, scene_dataset=procthor-10k, data_split=val +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 18:10:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:10:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:10:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:10:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:10:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 18:10:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 973 episode 1/2 collected=1/2 +[05/24 18:10:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 973 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 18:11:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_973: 2 episodes +[05/24 18:11:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:11:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:11:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:11:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:11:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_973 +[05/24 18:11:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_973 in 4.92s (batch: 4.76s, save: 0.16s) +[05/24 18:11:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_973 +[05/24 18:11:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 973: 0/2 successful episodes +[05/24 18:11:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 983 (index 81/83) +[05/24 18:11:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 983 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:11:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:11:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_983_ceiling.xml +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=983, scene_dataset=procthor-10k, data_split=val +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 18:11:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:11:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:11:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:11:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:11:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 18:11:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 983 episode 0/1 collected=0/2 +[05/24 18:11:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:11:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:13:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 983 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 18:13:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_983: 1 episodes +[05/24 18:13:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 18:13:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:13:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_983 +[05/24 18:13:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_983 in 2.37s (batch: 2.29s, save: 0.08s) +[05/24 18:13:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_983 +[05/24 18:13:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 983: 0/1 successful episodes +[05/24 18:13:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 998 (index 82/83) +[05/24 18:13:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 998 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_05 +[05/24 18:13:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:13:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_998_ceiling.xml +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=998, scene_dataset=procthor-10k, data_split=val +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 18:13:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:13:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:13:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:13:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:13:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 18:13:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 998 episode 0/2 collected=0/2 +[05/24 18:13:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:13:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:13:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 998 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 18:13:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 18:13:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_998_ceiling.xml +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=998, scene_dataset=procthor-10k, data_split=val +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 18:13:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 18:13:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 18:13:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 18:13:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 18:13:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 18:13:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 18:13:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 998 episode 1/2 collected=1/2 +[05/24 18:13:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 18:13:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 18:13:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 998 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_2_0_7 completed with success=True +[05/24 18:13:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_998: 2 episodes +[05/24 18:13:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 51 timesteps +[05/24 18:13:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 18:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 18:13:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_998 +[05/24 18:13:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_998 in 3.10s (batch: 3.05s, save: 0.05s) +[05/24 18:13:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_998 +[05/24 18:13:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 998: 2/2 successful episodes +[05/24 18:13:57 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 18:13:58 INFO pipeline.py:1496] Completed 83 houses, skipped 0 houses +[05/24 18:13:58 INFO pipeline.py:1499] Success count: 51, Total count: 125 +[05/24 18:13:58 INFO pipeline.py:1500] Success rate: 40.80% +Combined 125 episodes from 83 files → /tmp/tmpk48to316.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/results.csv at-end: 40.8% | oracle: 40.8% of 125 episodes +[2026-05-24 18:14:06,671] INFO MolmoSpaces simulator eval finished: success=51/125 rate=0.4080 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval +[2026-05-24 18:14:06,671] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_05/run_command.sh diff --git a/pick_msproc/pick_msproc/submission/shard_06.launcher.log b/pick_msproc/pick_msproc/submission/shard_06.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..75f3791d6e9a3dd028e58af8ad01b6bbada8416d --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_06.launcher.log @@ -0,0 +1,3000 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,442] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,529] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,558] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 (source=arg) +[2026-05-24 15:59:56,724] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,391] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,120] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,120] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:44,518] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:44,593] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:44 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:44,629] INFO JsonEvalRunner initialized: 84 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:04:44 INFO pipeline.py:1279] Starting house-by-house rollout of 84 houses with 2 episodes each (168 total episodes) using 1 worker processes +[05/24 16:04:44 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:44 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [0, + 11, + 16, + 30, + 44, + 63, + 65, + 84, + 86, + 101, + 110, + 126, + 136, + 154, + 158, + 177, + 188, + 195, + 211, + 225, + 240, + 245, + 255, + 275, + 285, + 301, + 311, + 326, + 327, + 349, + 350, + 362, + 374, + 389, + 399, + 413, + 418, + 440, + 444, + 471, + 477, + 492, + 504, + 510, + 525, + 536, + 544, + 549, + 568, + 573, + 585, + 594, + 612, + 624, + 639, + 641, + 664, + 667, + 685, + 700, + 701, + 722, + 736, + 744, + 765, + 766, + 784, + 799, + 819, + 830, + 841, + 845, + 865, + 883, + 886, + 896, + 915, + 918, + 939, + 940, + 954, + 962, + 978, + 989], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:44,634] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444 +[05/24 16:04:44 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:44 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 0 (index 0/84) +[05/24 16:04:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 0 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:04:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:47 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:51,237:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:51,237] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_0_ceiling.xml +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=0, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 16:04:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:04:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 0 episode 0/1 collected=0/2 +[05/24 16:04:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:56.511 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:05:15,993] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:05:16,316] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:06:19,103] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:06:20,434] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:06:20,437] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:06:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:06:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 0 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:06:35 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_0: 1 episodes +[05/24 16:06:35 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:06:37 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:06:37 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_0 +[05/24 16:06:37 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_0 in 2.10s (batch: 2.08s, save: 0.03s) +[05/24 16:06:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_0 +[05/24 16:06:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 0: 1/1 successful episodes +[05/24 16:06:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 11 (index 1/84) +[05/24 16:06:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 11 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:06:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:06:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_11_ceiling.xml +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=11, scene_dataset=procthor-10k, data_split=val +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 16:06:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:06:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:06:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:06:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:06:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:06:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:06:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 11 episode 0/1 collected=0/2 +[05/24 16:06:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 11 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:08:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_11: 1 episodes +[05/24 16:08:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:08:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_11 +[05/24 16:08:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_11 in 2.22s (batch: 2.14s, save: 0.08s) +[05/24 16:08:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_11 +[05/24 16:08:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 11: 0/1 successful episodes +[05/24 16:08:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 16 (index 2/84) +[05/24 16:08:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 16 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:08:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_16_ceiling.xml +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=16, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:08:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small gray smooth cup without handle' +[05/24 16:08:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 16 episode 0/2 collected=0/2 +[05/24 16:08:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:08:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 16 episode 0 object cup_ac3e47ea126b6e413f41eeecd68c8ae1_1_0_2 completed with success=True +[05/24 16:08:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:08:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_16_ceiling.xml +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=16, scene_dataset=procthor-10k, data_split=val +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:08:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:08:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:08:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:08:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:08:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:08:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:08:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 16 episode 1/2 collected=1/2 +[05/24 16:08:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:08:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:09:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 16 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 16:09:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_16: 2 episodes +[05/24 16:09:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 16:09:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:09:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:09:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_16 +[05/24 16:09:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_16 in 4.54s (batch: 4.43s, save: 0.11s) +[05/24 16:09:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_16 +[05/24 16:09:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 16: 1/2 successful episodes +[05/24 16:09:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 30 (index 3/84) +[05/24 16:09:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 30 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:09:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_30_ceiling.xml +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=30, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:09:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 16:09:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 30 episode 0/2 collected=0/2 +[05/24 16:09:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 30 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_2 completed with success=True +[05/24 16:09:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_30_ceiling.xml +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=30, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:09:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:09:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 30 episode 1/2 collected=1/2 +[05/24 16:09:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:48 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 30 episode 1 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_2 completed with success=True +[05/24 16:10:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_30: 2 episodes +[05/24 16:10:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:10:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 113 timesteps +[05/24 16:10:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:12 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_30 +[05/24 16:10:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_30 in 3.93s (batch: 3.87s, save: 0.06s) +[05/24 16:10:13 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_30 +[05/24 16:10:13 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 30: 2/2 successful episodes +[05/24 16:10:13 Worker 0 INFO pipeline.py:473] Worker 0 starting house 44 (index 4/84) +[05/24 16:10:13 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 44 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:10:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_44_ceiling.xml +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=44, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 75 objects +[05/24 16:10:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 16:10:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 44 episode 0/1 collected=0/2 +[05/24 16:10:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 44 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_8 completed with success=True +[05/24 16:10:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_44: 1 episodes +[05/24 16:10:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:10:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:10:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_44 +[05/24 16:10:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_44 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:10:37 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_44 +[05/24 16:10:37 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 44: 1/1 successful episodes +[05/24 16:10:37 Worker 0 INFO pipeline.py:473] Worker 0 starting house 63 (index 5/84) +[05/24 16:10:37 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 63 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:10:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_63_ceiling.xml +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=63, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:10:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:10:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 63 episode 0/2 collected=0/2 +[05/24 16:10:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 63 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_2_0_6 completed with success=True +[05/24 16:10:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:10:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_63_ceiling.xml +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=63, scene_dataset=procthor-10k, data_split=val +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 16:10:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:10:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:10:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:10:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:10:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:10:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 16:10:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 63 episode 1/2 collected=1/2 +[05/24 16:10:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:10:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 63 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 16:12:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_63: 2 episodes +[05/24 16:12:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:12:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:12:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:12:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_63 +[05/24 16:12:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_63 in 4.58s (batch: 4.47s, save: 0.11s) +[05/24 16:12:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_63 +[05/24 16:12:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 63: 1/2 successful episodes +[05/24 16:12:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 65 (index 6/84) +[05/24 16:12:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 65 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:12:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_65_ceiling.xml +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=65, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 16:12:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:12:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 65 episode 0/1 collected=0/2 +[05/24 16:12:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 65 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_6 completed with success=True +[05/24 16:12:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_65: 1 episodes +[05/24 16:12:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 16:13:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_65 +[05/24 16:13:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_65 in 1.96s (batch: 1.92s, save: 0.04s) +[05/24 16:13:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_65 +[05/24 16:13:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 65: 1/1 successful episodes +[05/24 16:13:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 84 (index 7/84) +[05/24 16:13:00 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 84 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:13:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_84_ceiling.xml +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=84, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:13:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:13:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 84 episode 0/1 collected=0/2 +[05/24 16:13:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 84 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_2_0_2 completed with success=True +[05/24 16:13:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_84: 1 episodes +[05/24 16:13:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:13:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_84 +[05/24 16:13:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_84 in 2.11s (batch: 2.07s, save: 0.04s) +[05/24 16:13:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_84 +[05/24 16:13:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 84: 1/1 successful episodes +[05/24 16:13:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 86 (index 8/84) +[05/24 16:13:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 86 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:13:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_86_ceiling.xml +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=86, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:13:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the knife' +[05/24 16:13:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 86 episode 0/2 collected=0/2 +[05/24 16:13:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 86 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=True +[05/24 16:13:36 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_86_ceiling.xml +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=86, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:13:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:13:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 86 episode 1/2 collected=1/2 +[05/24 16:13:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 86 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=True +[05/24 16:13:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_86: 2 episodes +[05/24 16:13:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_86 +[05/24 16:13:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_86 in 3.94s (batch: 3.89s, save: 0.05s) +[05/24 16:13:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_86 +[05/24 16:13:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 86: 2/2 successful episodes +[05/24 16:13:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 101 (index 9/84) +[05/24 16:13:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 101 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:14:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_101_ceiling.xml +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=101, scene_dataset=procthor-10k, data_split=val +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:14:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:14:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:14:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:14:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:14:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:14:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:14:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 101 episode 0/2 collected=0/2 +[05/24 16:14:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:14:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 101 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=False +[05/24 16:15:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_101_ceiling.xml +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=101, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:15:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:15:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 101 episode 1/2 collected=1/2 +[05/24 16:15:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:17:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 101 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:17:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_101: 2 episodes +[05/24 16:17:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:09 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:17:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:17:11 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_101 +[05/24 16:17:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_101 in 4.31s (batch: 4.15s, save: 0.16s) +[05/24 16:17:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_101 +[05/24 16:17:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 101: 0/2 successful episodes +[05/24 16:17:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 110 (index 10/84) +[05/24 16:17:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 110 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:17:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:17:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_110_ceiling.xml +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=110, scene_dataset=procthor-10k, data_split=val +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:17:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:17:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:17:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:17:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:17:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:17:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:17:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 110 episode 0/2 collected=0/2 +[05/24 16:17:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:17:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 110 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=False +[05/24 16:18:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_110_ceiling.xml +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=110, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:18:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal spoon' +[05/24 16:18:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 110 episode 1/2 collected=1/2 +[05/24 16:18:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 110 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=True +[05/24 16:18:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_110: 2 episodes +[05/24 16:18:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:18:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_110 +[05/24 16:18:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_110 in 4.02s (batch: 3.91s, save: 0.11s) +[05/24 16:19:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_110 +[05/24 16:19:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 110: 1/2 successful episodes +[05/24 16:19:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 126 (index 11/84) +[05/24 16:19:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 126 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:19:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_126_ceiling.xml +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=126, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:19:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:19:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 126 episode 0/2 collected=0/2 +[05/24 16:19:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 126 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:19:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_126_ceiling.xml +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=126, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 51 objects +[05/24 16:19:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:19:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 126 episode 1/2 collected=1/2 +[05/24 16:19:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 126 episode 1 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:19:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_126: 2 episodes +[05/24 16:19:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 16:19:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 16:19:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:19:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_126 +[05/24 16:19:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_126 in 4.34s (batch: 4.28s, save: 0.06s) +[05/24 16:19:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_126 +[05/24 16:19:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 126: 2/2 successful episodes +[05/24 16:19:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 136 (index 12/84) +[05/24 16:19:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 136 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:19:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_136_ceiling.xml +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=136, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 16:19:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:19:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 136 episode 0/1 collected=0/2 +[05/24 16:19:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 136 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_6 completed with success=False +[05/24 16:21:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_136: 1 episodes +[05/24 16:21:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:21:11 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:11 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_136 +[05/24 16:21:11 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_136 in 2.40s (batch: 2.31s, save: 0.09s) +[05/24 16:21:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_136 +[05/24 16:21:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 136: 0/1 successful episodes +[05/24 16:21:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 154 (index 13/84) +[05/24 16:21:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 154 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:21:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_154_ceiling.xml +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=154, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:21:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:21:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 154 episode 0/2 collected=0/2 +[05/24 16:21:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 154 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_3 completed with success=True +[05/24 16:21:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_154_ceiling.xml +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=154, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:21:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark teal box' +[05/24 16:21:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 154 episode 1/2 collected=1/2 +[05/24 16:21:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 154 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:21:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_154: 2 episodes +[05/24 16:21:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 119 timesteps +[05/24 16:21:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 16:21:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:57 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:57 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_154 +[05/24 16:21:57 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_154 in 3.87s (batch: 3.81s, save: 0.07s) +[05/24 16:21:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_154 +[05/24 16:21:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 154: 2/2 successful episodes +[05/24 16:21:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 158 (index 14/84) +[05/24 16:21:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 158 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:21:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_158_ceiling.xml +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=158, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:22:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 16:22:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 158 episode 0/1 collected=0/2 +[05/24 16:22:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 158 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:23:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_158: 1 episodes +[05/24 16:23:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_158 +[05/24 16:23:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_158 in 2.46s (batch: 2.36s, save: 0.10s) +[05/24 16:23:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_158 +[05/24 16:23:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 158: 0/1 successful episodes +[05/24 16:23:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 177 (index 15/84) +[05/24 16:23:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 177 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:23:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_177_ceiling.xml +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=177, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:23:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 16:23:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 177 episode 0/1 collected=0/2 +[05/24 16:23:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 177 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=True +[05/24 16:23:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_177: 1 episodes +[05/24 16:23:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:38 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_177 +[05/24 16:23:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_177 in 2.08s (batch: 2.06s, save: 0.03s) +[05/24 16:23:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_177 +[05/24 16:23:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 177: 1/1 successful episodes +[05/24 16:23:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 188 (index 16/84) +[05/24 16:23:38 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 188 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:23:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_188_ceiling.xml +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=188, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:23:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:23:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 188 episode 0/2 collected=0/2 +[05/24 16:23:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:23:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 188 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=False +[05/24 16:25:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_188_ceiling.xml +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=188, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:25:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:25:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 188 episode 1/2 collected=1/2 +[05/24 16:25:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:26:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 188 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=False +[05/24 16:26:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_188: 2 episodes +[05/24 16:26:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:26:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:26:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_188 +[05/24 16:26:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_188 in 4.78s (batch: 4.62s, save: 0.16s) +[05/24 16:26:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_188 +[05/24 16:26:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 188: 0/2 successful episodes +[05/24 16:26:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 195 (index 17/84) +[05/24 16:26:53 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 195 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:26:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:26:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_195_ceiling.xml +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=195, scene_dataset=procthor-10k, data_split=val +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:26:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:26:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:26:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:26:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:26:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:26:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:26:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 195 episode 0/1 collected=0/2 +[05/24 16:26:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:26:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:50 Worker 0 INFO pipeline.py:1114] Worker 0 house 195 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_2_0_4 completed with success=True +[05/24 16:27:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_195: 1 episodes +[05/24 16:27:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 290 timesteps +[05/24 16:27:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_195 +[05/24 16:27:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_195 in 2.05s (batch: 1.99s, save: 0.06s) +[05/24 16:27:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_195 +[05/24 16:27:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 195: 1/1 successful episodes +[05/24 16:27:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 211 (index 18/84) +[05/24 16:27:55 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 211 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:27:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_211_ceiling.xml +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=211, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:27:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:27:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 211 episode 0/1 collected=0/2 +[05/24 16:27:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 211 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_4 completed with success=True +[05/24 16:29:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_211: 1 episodes +[05/24 16:29:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 284 timesteps +[05/24 16:29:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:02 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_211 +[05/24 16:29:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_211 in 2.08s (batch: 2.01s, save: 0.08s) +[05/24 16:29:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_211 +[05/24 16:29:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 211: 1/1 successful episodes +[05/24 16:29:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 225 (index 19/84) +[05/24 16:29:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 225 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:29:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_225_ceiling.xml +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=225, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:29:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal rectangular box' +[05/24 16:29:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 225 episode 0/2 collected=0/2 +[05/24 16:29:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 225 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_9 completed with success=False +[05/24 16:30:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_225_ceiling.xml +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=225, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 54 objects +[05/24 16:30:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue plastic spray bottle with nozzle' +[05/24 16:30:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 225 episode 1/2 collected=1/2 +[05/24 16:30:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:53 Worker 0 INFO pipeline.py:1114] Worker 0 house 225 episode 1 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 16:31:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_225: 2 episodes +[05/24 16:31:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:31:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:32:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:00 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_225 +[05/24 16:32:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_225 in 4.30s (batch: 4.14s, save: 0.16s) +[05/24 16:32:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_225 +[05/24 16:32:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 225: 0/2 successful episodes +[05/24 16:32:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 240 (index 20/84) +[05/24 16:32:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 240 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:32:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_240_ceiling.xml +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=240, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:32:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:32:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 240 episode 0/1 collected=0/2 +[05/24 16:32:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 240 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 16:32:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_240: 1 episodes +[05/24 16:32:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 16:32:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:32:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_240 +[05/24 16:32:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_240 in 2.19s (batch: 2.15s, save: 0.04s) +[05/24 16:32:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_240 +[05/24 16:32:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 240: 1/1 successful episodes +[05/24 16:32:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 245 (index 21/84) +[05/24 16:32:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 245 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:32:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_245_ceiling.xml +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=245, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:32:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the edible fruit' +[05/24 16:32:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 245 episode 0/2 collected=0/2 +[05/24 16:32:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 245 episode 0 object apple_351743009add5172747a3534de5d2e2f_1_0_2 completed with success=False +[05/24 16:33:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_245_ceiling.xml +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=245, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 22 objects +[05/24 16:33:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:33:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 245 episode 1/2 collected=1/2 +[05/24 16:33:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:42 Worker 0 INFO pipeline.py:1114] Worker 0 house 245 episode 1 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True +[05/24 16:33:45 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_245: 2 episodes +[05/24 16:33:45 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:33:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 16:33:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:49 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_245 +[05/24 16:33:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_245 in 4.35s (batch: 4.23s, save: 0.12s) +[05/24 16:33:50 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_245 +[05/24 16:33:50 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 245: 1/2 successful episodes +[05/24 16:33:50 Worker 0 INFO pipeline.py:473] Worker 0 starting house 255 (index 22/84) +[05/24 16:33:50 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 255 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:33:50 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_255_ceiling.xml +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=255, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:33:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:33:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 255 episode 0/1 collected=0/2 +[05/24 16:33:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 255 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:33:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_255: 1 episodes +[05/24 16:33:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 22 timesteps +[05/24 16:34:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:34:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_255 +[05/24 16:34:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_255 in 2.07s (batch: 2.03s, save: 0.03s) +[05/24 16:34:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_255 +[05/24 16:34:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 255: 1/1 successful episodes +[05/24 16:34:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 275 (index 23/84) +[05/24 16:34:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 275 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:34:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_275_ceiling.xml +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=275, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:34:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife metal' +[05/24 16:34:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 275 episode 0/2 collected=0/2 +[05/24 16:34:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 275 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_2_0_2 completed with success=True +[05/24 16:34:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:34:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_275_ceiling.xml +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=275, scene_dataset=procthor-10k, data_split=val +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:34:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:34:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:34:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:34:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:34:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:34:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 16:34:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 275 episode 1/2 collected=1/2 +[05/24 16:34:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:34:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:35:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 275 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 16:35:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_275: 2 episodes +[05/24 16:35:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 63 timesteps +[05/24 16:35:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:35:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:47 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:35:47 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_275 +[05/24 16:35:47 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_275 in 4.69s (batch: 4.58s, save: 0.11s) +[05/24 16:35:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_275 +[05/24 16:35:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 275: 1/2 successful episodes +[05/24 16:35:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 285 (index 24/84) +[05/24 16:35:47 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 285 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:35:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_285_ceiling.xml +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=285, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 41 objects +[05/24 16:35:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:35:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 285 episode 0/1 collected=0/2 +[05/24 16:35:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:35:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 285 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_2_0_6 completed with success=False +[05/24 16:37:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_285: 1 episodes +[05/24 16:37:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:37:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:37:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_285 +[05/24 16:37:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_285 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 16:37:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_285 +[05/24 16:37:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 285: 0/1 successful episodes +[05/24 16:37:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 301 (index 25/84) +[05/24 16:37:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 301 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:37:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_301_ceiling.xml +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=301, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:37:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:37:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 301 episode 0/2 collected=0/2 +[05/24 16:37:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:37:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:37:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 301 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_2 completed with success=True +[05/24 16:37:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:37:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_301_ceiling.xml +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=301, scene_dataset=procthor-10k, data_split=val +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 16:37:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:37:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:37:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:37:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:37:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small stemmed red apple' +[05/24 16:37:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 301 episode 1/2 collected=1/2 +[05/24 16:37:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[2026-05-24 16:38:46,856] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/24 16:40:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 301 episode 1 object apple_ff93afa9f54bdc5d2bd30356940afcac_1_0_2 completed with success=False +[05/24 16:40:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_301: 2 episodes +[05/24 16:40:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/24 16:40:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:40:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_301 +[05/24 16:40:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_301 in 4.07s (batch: 3.95s, save: 0.11s) +[05/24 16:40:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_301 +[05/24 16:40:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 301: 1/2 successful episodes +[05/24 16:40:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 311 (index 26/84) +[05/24 16:40:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 311 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:40:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_311_ceiling.xml +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=311, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:40:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 16:40:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 311 episode 0/1 collected=0/2 +[05/24 16:40:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:41:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 311 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_6 completed with success=False +[05/24 16:41:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_311: 1 episodes +[05/24 16:41:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:41:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:41:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_311 +[05/24 16:41:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_311 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 16:41:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_311 +[05/24 16:41:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 311: 0/1 successful episodes +[05/24 16:41:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 326 (index 27/84) +[05/24 16:41:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 326 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:41:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:41:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_326_ceiling.xml +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=326, scene_dataset=procthor-10k, data_split=val +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 16:41:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:41:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:41:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:41:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:41:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 16:41:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 326 episode 0/2 collected=0/2 +[05/24 16:41:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:41:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 326 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_8 completed with success=True +[05/24 16:42:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_326_ceiling.xml +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=326, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 16:42:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 16:42:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 326 episode 1/2 collected=1/2 +[05/24 16:42:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 326 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 16:43:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_326: 2 episodes +[05/24 16:43:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 16:43:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:31 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_326 +[05/24 16:43:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_326 in 4.12s (batch: 4.01s, save: 0.11s) +[05/24 16:43:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_326 +[05/24 16:43:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 326: 1/2 successful episodes +[05/24 16:43:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 327 (index 28/84) +[05/24 16:43:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 327 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:43:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:43:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_327_ceiling.xml +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=327, scene_dataset=procthor-10k, data_split=val +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 16:43:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:43:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:43:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:43:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:43:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slender shiny polished metal spoon' +[05/24 16:43:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 327 episode 0/1 collected=0/2 +[05/24 16:43:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:43:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:43:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 327 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=True +[05/24 16:43:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_327: 1 episodes +[05/24 16:43:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 16:43:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:43:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_327 +[05/24 16:43:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_327 in 2.15s (batch: 2.11s, save: 0.03s) +[05/24 16:43:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_327 +[05/24 16:43:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 327: 1/1 successful episodes +[05/24 16:43:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 349 (index 29/84) +[05/24 16:43:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 349 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:43:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_349_ceiling.xml +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=349, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:44:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal fork' +[05/24 16:44:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 349 episode 0/1 collected=0/2 +[05/24 16:44:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 349 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:44:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_349: 1 episodes +[05/24 16:44:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 16:44:17 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:17 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_349 +[05/24 16:44:17 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_349 in 2.07s (batch: 2.03s, save: 0.04s) +[05/24 16:44:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_349 +[05/24 16:44:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 349: 1/1 successful episodes +[05/24 16:44:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 350 (index 30/84) +[05/24 16:44:18 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 350 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:44:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_350_ceiling.xml +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=350, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:44:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:44:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 350 episode 0/2 collected=0/2 +[05/24 16:44:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 350 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=True +[05/24 16:44:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_350_ceiling.xml +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=350, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 16:44:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled spatula' +[05/24 16:44:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 350 episode 1/2 collected=1/2 +[05/24 16:44:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 350 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=False +[05/24 16:45:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_350: 2 episodes +[05/24 16:45:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 16:46:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_350 +[05/24 16:46:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_350 in 4.13s (batch: 4.02s, save: 0.11s) +[05/24 16:46:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_350 +[05/24 16:46:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 350: 1/2 successful episodes +[05/24 16:46:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 362 (index 31/84) +[05/24 16:46:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 362 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:46:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_362_ceiling.xml +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=362, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:46:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 16:46:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 362 episode 0/1 collected=0/2 +[05/24 16:46:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 362 episode 0 object mug_3ebc45568ed53a18c8797978b3744a99_1_0_2 completed with success=True +[05/24 16:46:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_362: 1 episodes +[05/24 16:46:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:46:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:19 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_362 +[05/24 16:46:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_362 in 2.20s (batch: 2.16s, save: 0.03s) +[05/24 16:46:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_362 +[05/24 16:46:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 362: 1/1 successful episodes +[05/24 16:46:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 374 (index 32/84) +[05/24 16:46:19 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 374 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:46:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_374_ceiling.xml +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=374, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:46:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 16:46:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 374 episode 0/2 collected=0/2 +[05/24 16:46:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 374 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 16:46:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_374_ceiling.xml +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=374, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:46:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:46:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 374 episode 1/2 collected=1/2 +[05/24 16:46:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 374 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=True +[05/24 16:46:55 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_374: 2 episodes +[05/24 16:46:55 Worker 0 INFO save_utils.py:284] Preparing episode data: 87 timesteps +[05/24 16:46:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_374 +[05/24 16:46:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_374 in 3.93s (batch: 3.88s, save: 0.06s) +[05/24 16:46:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_374 +[05/24 16:46:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 374: 2/2 successful episodes +[05/24 16:46:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 389 (index 33/84) +[05/24 16:46:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 389 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:46:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:47:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_389_ceiling.xml +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=389, scene_dataset=procthor-10k, data_split=val +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:47:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:47:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:47:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:47:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:47:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:47:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 389 episode 0/2 collected=0/2 +[05/24 16:47:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:47:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 389 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:48:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_389_ceiling.xml +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=389, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 38 objects +[05/24 16:48:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:48:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 389 episode 1/2 collected=1/2 +[05/24 16:48:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:32 Worker 0 INFO pipeline.py:1114] Worker 0 house 389 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:48:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_389: 2 episodes +[05/24 16:48:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_389 +[05/24 16:48:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_389 in 4.06s (batch: 3.95s, save: 0.12s) +[05/24 16:48:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_389 +[05/24 16:48:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 389: 1/2 successful episodes +[05/24 16:48:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 399 (index 34/84) +[05/24 16:48:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 399 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:48:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_399_ceiling.xml +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=399, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 77 objects +[05/24 16:48:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 16:48:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 399 episode 0/1 collected=0/2 +[05/24 16:48:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:50:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 399 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6 completed with success=False +[05/24 16:50:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_399: 1 episodes +[05/24 16:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_399 +[05/24 16:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_399 in 2.32s (batch: 2.24s, save: 0.08s) +[05/24 16:50:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_399 +[05/24 16:50:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 399: 0/1 successful episodes +[05/24 16:50:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 413 (index 35/84) +[05/24 16:50:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 413 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:50:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_413_ceiling.xml +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=413, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 16:50:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 413 episode 0/2 collected=0/2 +[05/24 16:50:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:51:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 413 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:51:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_413_ceiling.xml +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=413, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 16:52:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:52:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 413 episode 1/2 collected=1/2 +[05/24 16:52:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 413 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:52:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_413: 2 episodes +[05/24 16:52:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:52:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 16:52:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:15 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_413 +[05/24 16:52:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_413 in 4.00s (batch: 3.89s, save: 0.11s) +[05/24 16:52:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_413 +[05/24 16:52:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 413: 1/2 successful episodes +[05/24 16:52:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 418 (index 36/84) +[05/24 16:52:15 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 418 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:52:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_418_ceiling.xml +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=418, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 16:52:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:52:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 418 episode 0/1 collected=0/2 +[05/24 16:52:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:20 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 418 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_8 completed with success=True +[05/24 16:52:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_418: 1 episodes +[05/24 16:52:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:52:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:52:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_418 +[05/24 16:52:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_418 in 1.93s (batch: 1.88s, save: 0.05s) +[05/24 16:52:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_418 +[05/24 16:52:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 418: 1/1 successful episodes +[05/24 16:52:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 440 (index 37/84) +[05/24 16:52:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 440 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:52:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_440_ceiling.xml +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=440, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 16:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 440 episode 0/1 collected=0/2 +[05/24 16:52:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 440 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=False +[05/24 16:53:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_440: 1 episodes +[05/24 16:53:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_440 +[05/24 16:53:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_440 in 2.40s (batch: 2.32s, save: 0.09s) +[05/24 16:53:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_440 +[05/24 16:53:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 440: 0/1 successful episodes +[05/24 16:53:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 444 (index 38/84) +[05/24 16:53:57 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 444 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:53:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:54:00 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_444_ceiling.xml +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=444, scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:54:00 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:54:00 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:54:00 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:54:00 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:54:00 Worker 0 INFO pipeline.py:1050] Worker 0 house 444 episode 0/2 collected=0/2 +[05/24 16:54:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 444 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 16:55:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_444_ceiling.xml +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=444, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 16:55:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:55:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 444 episode 1/2 collected=1/2 +[05/24 16:55:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 444 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_7 completed with success=True +[05/24 16:55:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_444: 2 episodes +[05/24 16:55:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 88 timesteps +[05/24 16:55:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_444 +[05/24 16:55:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_444 in 3.98s (batch: 3.86s, save: 0.12s) +[05/24 16:55:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_444 +[05/24 16:55:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 444: 1/2 successful episodes +[05/24 16:55:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 471 (index 39/84) +[05/24 16:55:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 471 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:55:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_471_ceiling.xml +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=471, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:55:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 16:55:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 471 episode 0/2 collected=0/2 +[05/24 16:55:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 471 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:56:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_471_ceiling.xml +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=471, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:56:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:56:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 471 episode 1/2 collected=1/2 +[05/24 16:56:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:21 Worker 0 INFO pipeline.py:1114] Worker 0 house 471 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 16:57:24 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_471: 2 episodes +[05/24 16:57:24 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:57:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_471 +[05/24 16:57:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_471 in 4.54s (batch: 4.42s, save: 0.12s) +[05/24 16:57:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_471 +[05/24 16:57:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 471: 1/2 successful episodes +[05/24 16:57:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 477 (index 40/84) +[05/24 16:57:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 477 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:57:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_477_ceiling.xml +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=477, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:57:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular metal pot with handle' +[05/24 16:57:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 477 episode 0/1 collected=0/2 +[05/24 16:57:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 477 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=True +[05/24 16:57:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_477: 1 episodes +[05/24 16:57:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/24 16:57:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_477 +[05/24 16:57:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_477 in 1.97s (batch: 1.94s, save: 0.03s) +[05/24 16:57:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_477 +[05/24 16:57:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 477: 1/1 successful episodes +[05/24 16:57:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 492 (index 41/84) +[05/24 16:57:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 492 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:57:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_492_ceiling.xml +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=492, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:57:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 16:57:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 492 episode 0/1 collected=0/2 +[05/24 16:57:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 492 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_4 completed with success=True +[05/24 16:57:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_492: 1 episodes +[05/24 16:57:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:58:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:58:00 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_492 +[05/24 16:58:00 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_492 in 1.89s (batch: 1.86s, save: 0.03s) +[05/24 16:58:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_492 +[05/24 16:58:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 492: 1/1 successful episodes +[05/24 16:58:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 504 (index 42/84) +[05/24 16:58:01 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 504 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 16:58:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_504_ceiling.xml +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=504, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:58:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 16:58:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 504 episode 0/2 collected=0/2 +[05/24 16:58:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 504 episode 0 object apple_c4656249220dffb6f61d18517b39de70_1_0_2 completed with success=False +[05/24 16:59:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:59:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_504_ceiling.xml +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=504, scene_dataset=procthor-10k, data_split=val +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:59:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:59:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:59:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:59:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:59:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:59:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with green stem' +[05/24 16:59:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 504 episode 1/2 collected=1/2 +[05/24 16:59:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:59:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:00:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 504 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_2 completed with success=False +[05/24 17:00:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_504: 2 episodes +[05/24 17:00:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_504 +[05/24 17:00:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_504 in 4.34s (batch: 4.18s, save: 0.16s) +[05/24 17:00:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_504 +[05/24 17:00:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 504: 0/2 successful episodes +[05/24 17:00:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 510 (index 43/84) +[05/24 17:00:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 510 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:00:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_510_ceiling.xml +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=510, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:00:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:00:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 510 episode 0/1 collected=0/2 +[05/24 17:00:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 510 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:01:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_510: 1 episodes +[05/24 17:01:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_510 +[05/24 17:01:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_510 in 2.18s (batch: 2.10s, save: 0.09s) +[05/24 17:01:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_510 +[05/24 17:01:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 510: 0/1 successful episodes +[05/24 17:01:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 525 (index 44/84) +[05/24 17:01:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 525 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:01:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_525_ceiling.xml +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=525, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:02:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle with black handle' +[05/24 17:02:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 525 episode 0/1 collected=0/2 +[05/24 17:02:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 525 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=True +[05/24 17:02:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_525: 1 episodes +[05/24 17:02:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 149 timesteps +[05/24 17:02:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:02:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_525 +[05/24 17:02:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_525 in 1.97s (batch: 1.92s, save: 0.05s) +[05/24 17:02:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_525 +[05/24 17:02:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 525: 1/1 successful episodes +[05/24 17:02:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 536 (index 45/84) +[05/24 17:02:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 536 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:02:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_536_ceiling.xml +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=536, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 17:02:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the teal box' +[05/24 17:02:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 536 episode 0/2 collected=0/2 +[05/24 17:02:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:04:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 536 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7 completed with success=False +[05/24 17:04:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:04:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_536_ceiling.xml +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=536, scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 17:04:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:04:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:04:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:04:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the small transparent glass salt shaker' +[05/24 17:04:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 536 episode 1/2 collected=1/2 +[05/24 17:04:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:04:21 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 536 episode 1 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_2 completed with success=False +[05/24 17:05:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_536: 2 episodes +[05/24 17:05:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:59 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_536 +[05/24 17:05:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_536 in 4.34s (batch: 4.17s, save: 0.16s) +[05/24 17:05:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_536 +[05/24 17:05:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 536: 0/2 successful episodes +[05/24 17:05:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 544 (index 46/84) +[05/24 17:05:59 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 544 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:05:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_544_ceiling.xml +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=544, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:06:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium blue bowl with rounded edge' +[05/24 17:06:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 544 episode 0/1 collected=0/2 +[05/24 17:06:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:01 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 544 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_2 completed with success=True +[05/24 17:06:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_544: 1 episodes +[05/24 17:06:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:06:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_544 +[05/24 17:06:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_544 in 1.92s (batch: 1.89s, save: 0.03s) +[05/24 17:06:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_544 +[05/24 17:06:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 544: 1/1 successful episodes +[05/24 17:06:12 Worker 0 INFO pipeline.py:473] Worker 0 starting house 549 (index 47/84) +[05/24 17:06:12 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 549 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:06:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_549_ceiling.xml +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=549, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:06:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 17:06:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 549 episode 0/2 collected=0/2 +[05/24 17:06:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 549 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:06:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_549_ceiling.xml +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=549, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 17:06:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light ceramic shallow round bowl' +[05/24 17:06:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 549 episode 1/2 collected=1/2 +[05/24 17:06:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:07:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 549 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_1_0_4 completed with success=False +[05/24 17:07:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_549: 2 episodes +[05/24 17:07:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 17:07:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_549 +[05/24 17:08:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_549 in 4.48s (batch: 4.32s, save: 0.16s) +[05/24 17:08:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_549 +[05/24 17:08:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 549: 1/2 successful episodes +[05/24 17:08:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 568 (index 48/84) +[05/24 17:08:02 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 568 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:08:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_568_ceiling.xml +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=568, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 13 objects +[05/24 17:08:03 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:08:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 17:08:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 568 episode 0/1 collected=0/2 +[05/24 17:08:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:04 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 568 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_2 completed with success=False +[05/24 17:09:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_568: 1 episodes +[05/24 17:09:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:09:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_568 +[05/24 17:09:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_568 in 2.35s (batch: 2.26s, save: 0.09s) +[05/24 17:09:16 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_568 +[05/24 17:09:16 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 568: 0/1 successful episodes +[05/24 17:09:16 Worker 0 INFO pipeline.py:473] Worker 0 starting house 573 (index 49/84) +[05/24 17:09:16 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 573 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:09:16 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_573_ceiling.xml +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=573, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:09:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with gold pump' +[05/24 17:09:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 573 episode 0/2 collected=0/2 +[05/24 17:09:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 573 episode 0 object soapdispenser_d51dec62d839524db5e5539199f5e1d2_1_0_2 completed with success=True +[05/24 17:09:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_573_ceiling.xml +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=573, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:09:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the bowl' +[05/24 17:09:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 573 episode 1/2 collected=1/2 +[05/24 17:09:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 573 episode 1 object bowl_9087df6907f975021e5d8ac01d4c2557_3_0_6 completed with success=True +[05/24 17:10:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_573: 2 episodes +[05/24 17:10:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:10:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 275 timesteps +[05/24 17:10:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:48 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:48 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_573 +[05/24 17:10:48 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_573 in 4.10s (batch: 4.01s, save: 0.08s) +[05/24 17:10:48 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_573 +[05/24 17:10:48 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 573: 2/2 successful episodes +[05/24 17:10:48 Worker 0 INFO pipeline.py:473] Worker 0 starting house 585 (index 50/84) +[05/24 17:10:48 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 585 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:10:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_585_ceiling.xml +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=585, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent glass salt shaker with salt' +[05/24 17:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 585 episode 0/2 collected=0/2 +[05/24 17:10:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 585 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_2 completed with success=True +[05/24 17:11:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_585_ceiling.xml +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=585, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:11:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:11:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 585 episode 1/2 collected=1/2 +[05/24 17:11:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 585 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:11:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_585: 2 episodes +[05/24 17:11:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:11:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 17:11:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:19 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_585 +[05/24 17:11:19 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_585 in 3.84s (batch: 3.78s, save: 0.05s) +[05/24 17:11:19 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_585 +[05/24 17:11:19 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 585: 2/2 successful episodes +[05/24 17:11:19 Worker 0 INFO pipeline.py:473] Worker 0 starting house 594 (index 51/84) +[05/24 17:11:19 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 594 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:11:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_594_ceiling.xml +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=594, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 17:11:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:11:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 594 episode 0/1 collected=0/2 +[05/24 17:11:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 594 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:11:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_594: 1 episodes +[05/24 17:11:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 39 timesteps +[05/24 17:11:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_594 +[05/24 17:11:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_594 in 1.92s (batch: 1.90s, save: 0.02s) +[05/24 17:11:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_594 +[05/24 17:11:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 594: 1/1 successful episodes +[05/24 17:11:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 612 (index 52/84) +[05/24 17:11:34 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 612 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:11:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_612_ceiling.xml +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=612, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 21 objects +[05/24 17:11:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent smooth glass conical bowl' +[05/24 17:11:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 612 episode 0/1 collected=0/2 +[05/24 17:11:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 612 episode 0 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=True +[05/24 17:11:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_612: 1 episodes +[05/24 17:11:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 67 timesteps +[05/24 17:11:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:11:51 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_612 +[05/24 17:11:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_612 in 1.96s (batch: 1.93s, save: 0.03s) +[05/24 17:11:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_612 +[05/24 17:11:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 612: 1/1 successful episodes +[05/24 17:11:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 624 (index 53/84) +[05/24 17:11:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 624 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:11:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_624_ceiling.xml +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=624, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:11:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:11:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 624 episode 0/2 collected=0/2 +[05/24 17:11:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 624 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 17:13:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_624_ceiling.xml +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=624, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:13:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:13:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 624 episode 1/2 collected=1/2 +[05/24 17:13:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 624 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=False +[05/24 17:14:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_624: 2 episodes +[05/24 17:14:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_624 +[05/24 17:14:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_624 in 4.26s (batch: 4.09s, save: 0.17s) +[05/24 17:14:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_624 +[05/24 17:14:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 624: 0/2 successful episodes +[05/24 17:14:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 639 (index 54/84) +[05/24 17:14:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 639 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:14:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_639_ceiling.xml +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=639, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:14:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 17:14:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 639 episode 0/2 collected=0/2 +[05/24 17:14:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 639 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 17:14:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_639_ceiling.xml +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=639, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:14:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:14:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 639 episode 1/2 collected=1/2 +[05/24 17:14:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 639 episode 1 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=False +[05/24 17:16:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_639: 2 episodes +[05/24 17:16:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:16:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:16:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_639 +[05/24 17:16:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_639 in 4.49s (batch: 4.36s, save: 0.13s) +[05/24 17:16:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_639 +[05/24 17:16:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 639: 1/2 successful episodes +[05/24 17:16:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 641 (index 55/84) +[05/24 17:16:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 641 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:16:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_641_ceiling.xml +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=641, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 17:16:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:16:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 641 episode 0/1 collected=0/2 +[05/24 17:16:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 641 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=False +[05/24 17:18:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_641: 1 episodes +[05/24 17:18:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:18:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:18:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_641 +[05/24 17:18:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_641 in 2.39s (batch: 2.30s, save: 0.09s) +[05/24 17:18:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_641 +[05/24 17:18:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 641: 0/1 successful episodes +[05/24 17:18:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 664 (index 56/84) +[05/24 17:18:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 664 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:18:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:18:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_664_ceiling.xml +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=664, scene_dataset=procthor-10k, data_split=val +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:18:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:18:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:18:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:18:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:18:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:18:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:18:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 664 episode 0/1 collected=0/2 +[05/24 17:18:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:18:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:19:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 664 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=False +[05/24 17:19:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_664: 1 episodes +[05/24 17:19:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_664 +[05/24 17:19:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_664 in 2.36s (batch: 2.27s, save: 0.09s) +[05/24 17:19:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_664 +[05/24 17:19:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 664: 0/1 successful episodes +[05/24 17:19:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 667 (index 57/84) +[05/24 17:19:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 667 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:19:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_667_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=667, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 667 episode 0/2 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 667 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 17:21:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_667_ceiling.xml +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=667, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:21:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:21:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 667 episode 1/2 collected=1/2 +[05/24 17:21:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 667 episode 1 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=True +[05/24 17:21:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_667: 2 episodes +[05/24 17:21:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:21:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_667 +[05/24 17:21:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_667 in 4.25s (batch: 4.12s, save: 0.13s) +[05/24 17:21:27 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_667 +[05/24 17:21:27 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 667: 1/2 successful episodes +[05/24 17:21:27 Worker 0 INFO pipeline.py:473] Worker 0 starting house 685 (index 58/84) +[05/24 17:21:27 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 685 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:21:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_685_ceiling.xml +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=685, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:21:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black grip stainless steel ladle' +[05/24 17:21:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 685 episode 0/1 collected=0/2 +[05/24 17:21:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:21:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 685 episode 0 object ladle_efa098c0c2ee65d40f3e065a96e92161_1_0_6 completed with success=True +[05/24 17:21:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_685: 1 episodes +[05/24 17:21:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:21:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:21:43 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_685 +[05/24 17:21:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_685 in 1.89s (batch: 1.86s, save: 0.03s) +[05/24 17:21:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_685 +[05/24 17:21:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 685: 1/1 successful episodes +[05/24 17:21:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 700 (index 59/84) +[05/24 17:21:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 700 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:21:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:21:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_700_ceiling.xml +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=700, scene_dataset=procthor-10k, data_split=val +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:21:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:21:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:21:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:21:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:21:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:21:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 700 episode 0/2 collected=0/2 +[05/24 17:21:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:21:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 700 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_2_0_6 completed with success=False +[05/24 17:23:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_700_ceiling.xml +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=700, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:23:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 17:23:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 700 episode 1/2 collected=1/2 +[05/24 17:23:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:12 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:23:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 700 episode 1 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_7 completed with success=True +[05/24 17:23:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_700: 2 episodes +[05/24 17:23:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 107 timesteps +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_700 +[05/24 17:23:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_700 in 4.04s (batch: 3.92s, save: 0.12s) +[05/24 17:23:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_700 +[05/24 17:23:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 700: 1/2 successful episodes +[05/24 17:23:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 701 (index 60/84) +[05/24 17:23:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 701 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:23:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_701_ceiling.xml +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=701, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 109 objects +[05/24 17:23:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:23:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 701 episode 0/1 collected=0/2 +[05/24 17:23:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 701 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_4 completed with success=True +[05/24 17:24:07 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_701: 1 episodes +[05/24 17:24:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 78 timesteps +[05/24 17:24:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:09 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_701 +[05/24 17:24:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_701 in 1.91s (batch: 1.88s, save: 0.04s) +[05/24 17:24:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_701 +[05/24 17:24:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 701: 1/1 successful episodes +[05/24 17:24:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 722 (index 61/84) +[05/24 17:24:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 722 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:24:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_722_ceiling.xml +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=722, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 14 objects +[05/24 17:24:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl with rim' +[05/24 17:24:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 722 episode 0/1 collected=0/2 +[05/24 17:24:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:24:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 722 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 17:24:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_722: 1 episodes +[05/24 17:24:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:24:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:24:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_722 +[05/24 17:24:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_722 in 2.16s (batch: 2.11s, save: 0.04s) +[05/24 17:24:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_722 +[05/24 17:24:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 722: 1/1 successful episodes +[05/24 17:24:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 736 (index 62/84) +[05/24 17:24:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 736 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:24:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:24:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_736_ceiling.xml +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=736, scene_dataset=procthor-10k, data_split=val +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:24:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:24:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:24:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:24:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:24:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:24:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 736 episode 0/2 collected=0/2 +[05/24 17:24:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:24:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 736 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 17:25:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_736_ceiling.xml +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=736, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:25:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:25:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 736 episode 1/2 collected=1/2 +[05/24 17:25:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:52 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 736 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:26:04 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_736: 2 episodes +[05/24 17:26:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:07 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:26:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:09 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:09 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_736 +[05/24 17:26:09 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_736 in 4.36s (batch: 4.25s, save: 0.12s) +[05/24 17:26:09 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_736 +[05/24 17:26:09 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 736: 1/2 successful episodes +[05/24 17:26:09 Worker 0 INFO pipeline.py:473] Worker 0 starting house 744 (index 63/84) +[05/24 17:26:09 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 744 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:26:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:11 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_744_ceiling.xml +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=744, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 18 objects +[05/24 17:26:11 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:11 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:11 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:11 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark gray matte bowl with ridges' +[05/24 17:26:11 Worker 0 INFO pipeline.py:1050] Worker 0 house 744 episode 0/1 collected=0/2 +[05/24 17:26:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 744 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:26:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_744: 1 episodes +[05/24 17:26:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:26:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_744 +[05/24 17:26:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_744 in 2.10s (batch: 2.06s, save: 0.04s) +[05/24 17:26:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_744 +[05/24 17:26:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 744: 1/1 successful episodes +[05/24 17:26:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 765 (index 64/84) +[05/24 17:26:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 765 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:26:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_765_ceiling.xml +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=765, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:26:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plain white ceramic mug with handle' +[05/24 17:26:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 765 episode 0/2 collected=0/2 +[05/24 17:26:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 765 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:26:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_765_ceiling.xml +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=765, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 72 objects +[05/24 17:26:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:26:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 765 episode 1/2 collected=1/2 +[05/24 17:26:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:26:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 765 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:27:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_765: 2 episodes +[05/24 17:27:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:27:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:27:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_765 +[05/24 17:27:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_765 in 3.85s (batch: 3.79s, save: 0.06s) +[05/24 17:27:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_765 +[05/24 17:27:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 765: 2/2 successful episodes +[05/24 17:27:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 766 (index 65/84) +[05/24 17:27:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 766 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:27:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_766_ceiling.xml +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=766, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 23 objects +[05/24 17:27:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug with handle' +[05/24 17:27:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 766 episode 0/1 collected=0/2 +[05/24 17:27:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 766 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_2 completed with success=True +[05/24 17:27:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_766: 1 episodes +[05/24 17:27:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:27:36 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:36 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_766 +[05/24 17:27:36 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_766 in 2.09s (batch: 2.06s, save: 0.03s) +[05/24 17:27:36 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_766 +[05/24 17:27:36 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 766: 1/1 successful episodes +[05/24 17:27:36 Worker 0 INFO pipeline.py:473] Worker 0 starting house 784 (index 66/84) +[05/24 17:27:36 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 784 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:27:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:27:42 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_784_ceiling.xml +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=784, scene_dataset=procthor-10k, data_split=val +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 82 objects +[05/24 17:27:42 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:27:42 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:27:42 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:27:42 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:27:42 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:27:42 Worker 0 INFO pipeline.py:1050] Worker 0 house 784 episode 0/1 collected=0/2 +[05/24 17:27:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:27:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:27:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 784 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_7 completed with success=True +[05/24 17:27:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_784: 1 episodes +[05/24 17:27:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:27:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:27:58 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_784 +[05/24 17:27:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_784 in 1.96s (batch: 1.93s, save: 0.03s) +[05/24 17:27:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_784 +[05/24 17:27:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 784: 1/1 successful episodes +[05/24 17:27:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 799 (index 67/84) +[05/24 17:27:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 799 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:27:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:05 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_799_ceiling.xml +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=799, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects +[05/24 17:28:05 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:05 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:05 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:05 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:05 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:28:05 Worker 0 INFO pipeline.py:1050] Worker 0 house 799 episode 0/2 collected=0/2 +[05/24 17:28:05 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 799 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_2 completed with success=True +[05/24 17:28:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_799_ceiling.xml +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=799, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 76 objects +[05/24 17:28:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:28:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 799 episode 1/2 collected=1/2 +[05/24 17:28:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 799 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:28:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_799: 2 episodes +[05/24 17:28:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:28:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:28:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:28:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_799 +[05/24 17:28:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_799 in 4.19s (batch: 4.14s, save: 0.05s) +[05/24 17:28:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_799 +[05/24 17:28:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 799: 2/2 successful episodes +[05/24 17:28:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 819 (index 68/84) +[05/24 17:28:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 819 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:28:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_819_ceiling.xml +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=819, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 5 objects +[05/24 17:28:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:28:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 819 episode 0/1 collected=0/2 +[05/24 17:28:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:28:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 819 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=True +[05/24 17:28:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_819: 1 episodes +[05/24 17:28:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:29:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:01 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_819 +[05/24 17:29:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_819 in 2.11s (batch: 2.07s, save: 0.03s) +[05/24 17:29:02 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_819 +[05/24 17:29:02 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 819: 1/1 successful episodes +[05/24 17:29:02 Worker 0 INFO pipeline.py:473] Worker 0 starting house 830 (index 69/84) +[05/24 17:29:02 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 830 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:29:02 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_830_ceiling.xml +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=830, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:29:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 17:29:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 830 episode 0/2 collected=0/2 +[05/24 17:29:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 830 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_8 completed with success=False +[05/24 17:30:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_830_ceiling.xml +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=830, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 17:30:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 17:30:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 830 episode 1/2 collected=1/2 +[05/24 17:30:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:30 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 830 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_8 completed with success=False +[05/24 17:31:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_830: 2 episodes +[05/24 17:31:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:31:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:31:54 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_830 +[05/24 17:31:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_830 in 4.40s (batch: 4.20s, save: 0.20s) +[05/24 17:31:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_830 +[05/24 17:31:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 830: 0/2 successful episodes +[05/24 17:31:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 841 (index 70/84) +[05/24 17:31:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 841 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:31:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_841_ceiling.xml +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=841, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:31:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:31:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 841 episode 0/2 collected=0/2 +[05/24 17:31:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 841 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 17:32:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:32:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_841_ceiling.xml +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=841, scene_dataset=procthor-10k, data_split=val +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 17:32:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:32:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:32:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:32:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:32:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:32:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:32:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 841 episode 1/2 collected=1/2 +[05/24 17:32:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:32:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 841 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:33:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_841: 2 episodes +[05/24 17:33:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:33:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:35 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_841 +[05/24 17:33:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_841 in 4.53s (batch: 4.41s, save: 0.12s) +[05/24 17:33:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_841 +[05/24 17:33:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 841: 1/2 successful episodes +[05/24 17:33:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 845 (index 71/84) +[05/24 17:33:35 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 845 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:33:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_845_ceiling.xml +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=845, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 26 objects +[05/24 17:33:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:33:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 845 episode 0/1 collected=0/2 +[05/24 17:33:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 845 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:34:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_845: 1 episodes +[05/24 17:34:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:34:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_845 +[05/24 17:34:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_845 in 2.37s (batch: 2.28s, save: 0.09s) +[05/24 17:34:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_845 +[05/24 17:34:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 845: 0/1 successful episodes +[05/24 17:34:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 865 (index 72/84) +[05/24 17:34:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 865 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:34:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_865_ceiling.xml +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=865, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:34:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow handle kitchen knife metal' +[05/24 17:34:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 865 episode 0/2 collected=0/2 +[05/24 17:34:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 865 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_2_0_6 completed with success=True +[05/24 17:35:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:20 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_865_ceiling.xml +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=865, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 49 objects +[05/24 17:35:20 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:20 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:20 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:20 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:20 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:35:20 Worker 0 INFO pipeline.py:1050] Worker 0 house 865 episode 1/2 collected=1/2 +[05/24 17:35:20 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 865 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_5 completed with success=False +[05/24 17:36:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_865: 2 episodes +[05/24 17:36:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 100 timesteps +[05/24 17:36:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:44 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_865 +[05/24 17:36:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_865 in 4.20s (batch: 4.08s, save: 0.11s) +[05/24 17:36:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_865 +[05/24 17:36:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 865: 1/2 successful episodes +[05/24 17:36:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 883 (index 73/84) +[05/24 17:36:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 883 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:36:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_883_ceiling.xml +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=883, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:36:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy brown rounded cup ceramic' +[05/24 17:36:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 883 episode 0/2 collected=0/2 +[05/24 17:36:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:37:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 883 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_6 completed with success=False +[05/24 17:37:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_883_ceiling.xml +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=883, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:38:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the black matte cooking pot with handles' +[05/24 17:38:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 883 episode 1/2 collected=1/2 +[05/24 17:38:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 883 episode 1 object pot_327edb884d62930ab5c6e8fce062daba_1_0_6 completed with success=True +[05/24 17:39:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_883: 2 episodes +[05/24 17:39:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 336 timesteps +[05/24 17:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_883 +[05/24 17:39:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_883 in 4.60s (batch: 4.44s, save: 0.16s) +[05/24 17:39:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_883 +[05/24 17:39:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 883: 1/2 successful episodes +[05/24 17:39:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 886 (index 74/84) +[05/24 17:39:05 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 886 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:39:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_886_ceiling.xml +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=886, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 44 objects +[05/24 17:39:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with rim' +[05/24 17:39:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 886 episode 0/1 collected=0/2 +[05/24 17:39:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 886 episode 0 object cup_4697b73732349085e30935e0f35566dc_1_0_6 completed with success=False +[05/24 17:40:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_886: 1 episodes +[05/24 17:40:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:40:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:40:29 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_886 +[05/24 17:40:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_886 in 2.34s (batch: 2.25s, save: 0.09s) +[05/24 17:40:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_886 +[05/24 17:40:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 886: 0/1 successful episodes +[05/24 17:40:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 896 (index 75/84) +[05/24 17:40:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 896 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:40:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:40:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_896_ceiling.xml +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=896, scene_dataset=procthor-10k, data_split=val +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:40:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:40:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:40:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:40:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:40:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:40:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 17:40:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 896 episode 0/2 collected=0/2 +[05/24 17:40:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:40:36 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:40:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 896 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 17:40:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_896_ceiling.xml +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=896, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:41:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:41:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 896 episode 1/2 collected=1/2 +[05/24 17:41:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 896 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_3_0_6 completed with success=False +[05/24 17:42:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_896: 2 episodes +[05/24 17:42:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:42:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:42:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_896 +[05/24 17:42:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_896 in 4.52s (batch: 4.39s, save: 0.12s) +[05/24 17:42:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_896 +[05/24 17:42:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 896: 1/2 successful episodes +[05/24 17:42:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 915 (index 76/84) +[05/24 17:42:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 915 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:42:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:42:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_915_ceiling.xml +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=915, scene_dataset=procthor-10k, data_split=val +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:42:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:42:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:42:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:42:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:42:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:42:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 17:42:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 915 episode 0/2 collected=0/2 +[05/24 17:42:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:42:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:42:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 915 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=True +[05/24 17:42:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_915_ceiling.xml +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=915, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:43:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy smooth red apple' +[05/24 17:43:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 915 episode 1/2 collected=1/2 +[05/24 17:43:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 915 episode 1 object apple_351743009add5172747a3534de5d2e2f_1_0_6 completed with success=True +[05/24 17:43:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_915: 2 episodes +[05/24 17:43:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:43:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 17:43:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_915 +[05/24 17:43:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_915 in 4.28s (batch: 4.23s, save: 0.05s) +[05/24 17:43:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_915 +[05/24 17:43:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 915: 2/2 successful episodes +[05/24 17:43:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 918 (index 77/84) +[05/24 17:43:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 918 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:43:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_918_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=918, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 125 objects +[05/24 17:43:31 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium open brown cardboard box' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 918 episode 0/1 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 918 episode 0 object box_54d3d4baf11286a2a524395e4a26c893_1_0_3 completed with success=True +[05/24 17:43:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_918: 1 episodes +[05/24 17:43:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 96 timesteps +[05/24 17:43:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_918 +[05/24 17:43:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_918 in 2.15s (batch: 2.09s, save: 0.06s) +[05/24 17:43:59 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_918 +[05/24 17:43:59 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 918: 1/1 successful episodes +[05/24 17:43:59 Worker 0 INFO pipeline.py:473] Worker 0 starting house 939 (index 78/84) +[05/24 17:43:59 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 939 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:43:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_939_ceiling.xml +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=939, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:44:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal knife' +[05/24 17:44:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 939 episode 0/2 collected=0/2 +[05/24 17:44:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 939 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=False +[05/24 17:45:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:45:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_939_ceiling.xml +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=939, scene_dataset=procthor-10k, data_split=val +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:45:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:45:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:45:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:45:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:45:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:45:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the eating utensil' +[05/24 17:45:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 939 episode 1/2 collected=1/2 +[05/24 17:45:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:45:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 939 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_2_0_6 completed with success=False +[05/24 17:46:58 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_939: 2 episodes +[05/24 17:46:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:47:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:47:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:02 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:02 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_939 +[05/24 17:47:02 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_939 in 4.50s (batch: 4.30s, save: 0.20s) +[05/24 17:47:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_939 +[05/24 17:47:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 939: 0/2 successful episodes +[05/24 17:47:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 940 (index 79/84) +[05/24 17:47:03 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 940 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:47:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_940_ceiling.xml +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=940, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 57 objects +[05/24 17:47:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the container' +[05/24 17:47:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 940 episode 0/1 collected=0/2 +[05/24 17:47:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:47:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 940 episode 0 object cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6 completed with success=True +[05/24 17:47:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_940: 1 episodes +[05/24 17:47:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 45 timesteps +[05/24 17:47:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:47:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_940 +[05/24 17:47:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_940 in 1.88s (batch: 1.85s, save: 0.03s) +[05/24 17:47:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_940 +[05/24 17:47:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 940: 1/1 successful episodes +[05/24 17:47:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 954 (index 80/84) +[05/24 17:47:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 954 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:47:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:47:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_954_ceiling.xml +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=954, scene_dataset=procthor-10k, data_split=val +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 17:47:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:47:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:47:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:47:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:47:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:47:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:47:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 954 episode 0/1 collected=0/2 +[05/24 17:47:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:47:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 954 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=False +[05/24 17:49:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_954: 1 episodes +[05/24 17:49:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_954 +[05/24 17:49:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_954 in 2.10s (batch: 2.01s, save: 0.09s) +[05/24 17:49:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_954 +[05/24 17:49:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 954: 0/1 successful episodes +[05/24 17:49:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 962 (index 81/84) +[05/24 17:49:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 962 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:49:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_962_ceiling.xml +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=962, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:49:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white mug' +[05/24 17:49:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 962 episode 0/2 collected=0/2 +[05/24 17:49:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 962 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:49:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_962_ceiling.xml +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=962, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 19 objects +[05/24 17:49:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:49:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 962 episode 1/2 collected=1/2 +[05/24 17:49:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 962 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 17:49:46 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_962: 2 episodes +[05/24 17:49:46 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:49:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 59 timesteps +[05/24 17:49:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:50 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_962 +[05/24 17:49:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_962 in 3.82s (batch: 3.77s, save: 0.05s) +[05/24 17:49:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_962 +[05/24 17:49:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 962: 2/2 successful episodes +[05/24 17:49:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 978 (index 82/84) +[05/24 17:49:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 978 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:49:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_978_ceiling.xml +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=978, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth translucent plastic cup' +[05/24 17:49:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 978 episode 0/2 collected=0/2 +[05/24 17:49:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 978 episode 0 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:51:19 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:22 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_978_ceiling.xml +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=978, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:51:22 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:22 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:22 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:22 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:22 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:51:22 Worker 0 INFO pipeline.py:1050] Worker 0 house 978 episode 1/2 collected=1/2 +[05/24 17:51:22 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:51:23 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:35 Worker 0 INFO pipeline.py:1114] Worker 0 house 978 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:51:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_978: 2 episodes +[05/24 17:51:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:51:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:51:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_978 +[05/24 17:51:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_978 in 4.50s (batch: 4.39s, save: 0.11s) +[05/24 17:51:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_978 +[05/24 17:51:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 978: 1/2 successful episodes +[05/24 17:51:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 989 (index 83/84) +[05/24 17:51:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 989 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_06 +[05/24 17:51:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:51:51 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_989_ceiling.xml +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=989, scene_dataset=procthor-10k, data_split=val +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 99 objects +[05/24 17:51:51 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:51:51 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:51:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:51:51 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:51:51 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:51:51 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cup' +[05/24 17:51:51 Worker 0 INFO pipeline.py:1050] Worker 0 house 989 episode 0/1 collected=0/2 +[05/24 17:51:51 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 989 episode 0 object cup_ff2c6ab62ccb690220c97cdcfeb658c5_1_0_2 completed with success=True +[05/24 17:52:10 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_989: 1 episodes +[05/24 17:52:10 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:52:12 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:12 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160444/house_989 +[05/24 17:52:12 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_989 in 2.01s (batch: 1.98s, save: 0.03s) +[05/24 17:52:12 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_989 +[05/24 17:52:12 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 989: 1/1 successful episodes +[05/24 17:52:12 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:52:13 INFO pipeline.py:1496] Completed 84 houses, skipped 0 houses +[05/24 17:52:13 INFO pipeline.py:1499] Success count: 73, Total count: 125 +[05/24 17:52:13 INFO pipeline.py:1500] Success rate: 58.40% +Combined 125 episodes from 84 files → /tmp/tmpljhtnp50.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/results.csv at-end: 58.4% | oracle: 58.4% of 125 episodes +[2026-05-24 17:52:20,748] INFO MolmoSpaces simulator eval finished: success=73/125 rate=0.5840 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval +[2026-05-24 17:52:20,749] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission/results.csv + Bundle zip : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission_bundle.zip + Summary : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/submission/summary.json + Full eval output : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/eval + Repro command : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_06/run_command.sh diff --git a/pick_msproc/pick_msproc/submission/shard_07.launcher.log b/pick_msproc/pick_msproc/submission/shard_07.launcher.log new file mode 100644 index 0000000000000000000000000000000000000000..3ed36354a075cfddcc1250cf1a871d8d9d676984 --- /dev/null +++ b/pick_msproc/pick_msproc/submission/shard_07.launcher.log @@ -0,0 +1,3007 @@ +================================================================================ +Official MolmoSpaces Submission Run +================================================================================ +Checkpoint : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt +Benchmark dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +Output root : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07 +Eval output dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval +Submission dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/submission +Conda env : molmospace +Policy name : latest +Policy device : cuda:0 +Text embedding device : cpu +Prompt cache dir : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +Workers : 1 +Task horizon steps : 450 +Action chunk size : 8 +Obs camera : droid_shoulder_light_randomization +Obs wrist camera : wrist_camera_zed_mini +Camera names : droid_shoulder_light_randomization wrist_camera_zed_mini +Preview camera names : droid_shoulder_light_randomization +End on success : 1 +Visualization : 0 +Save raw videos : 0 +Save video sensors : __none__ +Success condition (CSV) : both + +Official runner : molmo_spaces.evaluation.run_evaluation() +CSV exporter : molmospaces/scripts/benchmarks/eval_to_csv.py + +Command +conda run --no-capture-output -n molmospace python -u /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/psi_policy/eval_molmospaces_sim.py --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval --benchmark-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --device cuda:0 --text-embedding-device cpu --num-workers 1 --task-horizon-steps 450 --max-episodes 0 --no-random-episode --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --action-chunk-size 8 --policy-name latest --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --success-condition both --end-on-success --save-video-sensors __none__ --no-wandb --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --skip-compose-videos --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan +================================================================================ +[2026-05-24 15:59:54,437] INFO Installed NumPy pickle compatibility aliases: ['numpy._core', 'numpy._core.multiarray', 'numpy._core.numerictypes', 'numpy._core.umath', 'numpy._core._multiarray_umath'] +[2026-05-24 15:59:54,516] INFO Selected MuJoCo backend: egl +[2026-05-24 15:59:54,549] INFO Using MolmoSpaces benchmark: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 (source=arg) +[2026-05-24 15:59:56,841] INFO No OpenGL_accelerate module loaded: No module named 'OpenGL_accelerate' +[nltk_data] Downloading package wordnet to /home/yuanpei/nltk_data... +[nltk_data] Package wordnet is already up-to-date! +[nltk_data] Downloading package wordnet2022 to +[nltk_data] /home/yuanpei/nltk_data... +[nltk_data] Package wordnet2022 is already up-to-date! +Failed to import warp: No module named 'warp' +Failed to import mujoco_warp: No module named 'warp' +[2026-05-24 16:00:05,288] INFO ResourceManager (R2RemoteStorage('https://pub-3555e9bb2d304fab9c6c79819e48aa40.r2.dev')) using: + symlink_dir=/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets + cache_dir=/home/yuanpei/.cache/molmo-spaces-resources + force_install=True +/share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/molmo_spaces/evaluation/eval_main.py:129: UserWarning: Using objaverse data version 20260131. This is a newer version that may contain different assets than the original benchmark version (20251016_from_20250610). + _assert_data_versions_match() +[2026-05-24 16:04:43,671] INFO Remapped preview_camera_names for benchmark cameras: ['droid_shoulder_light_randomization', 'wrist_camera_zed_mini'] -> ['exo_camera_1', 'wrist_camera'] +[2026-05-24 16:04:43,671] INFO Using save_video_sensors=['__none__'] +[2026-05-24 16:04:45,059] INFO Resolved MolmoSpaces action semantics from checkpoint: source=pnp_next_to_v2 type=molmo_raw arm_action_key=joint_pos_rel gripper_action_key=joint_pos action_type=joint_pos_rel arm_command_mode=joint_rel_position +[2026-05-24 16:04:45,118] INFO Using explicit task_horizon override: 450 steps +[05/24 16:04:45 INFO pipeline.py:677] WandB logging disabled (environment variables not set) +[2026-05-24 16:04:45,155] INFO JsonEvalRunner initialized: 84 houses, 125 episodes from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 INFO pipeline.py:1279] Starting house-by-house rollout of 84 houses with 2 episodes each (168 total episodes) using 1 worker processes +[05/24 16:04:45 INFO pipeline.py:1286] Evaluation configuration: +[05/24 16:04:45 INFO pipeline.py:1287] {'benchmark_path': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07'), + 'camera_config': None, + 'collision_free_pose_limit': 3, + 'config_version': '0.1', + 'ctrl_dt_ms': 2.0, + 'data_split': 'val', + 'datagen_profiler': False, + 'end_on_success': True, + 'environment_light_intensity': 15000.0, + 'eval_runtime_params': {'add_custom_object': False, + 'custom_object_name': None, + 'custom_object_path': None, + 'episode_idx': None}, + 'filter_for_successful_trajectories': False, + 'log_level': 'info', + 'num_envs': 1, + 'num_workers': 1, + 'output_dir': PosixPath('/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445'), + 'policy_config': {'action_chunk_size': 8, + 'action_move_group_names': ['arm', 'gripper'], + 'action_spec': {'arm': 7, 'gripper': 1}, + 'action_type': 'joint_pos_rel', + 'allow_create_prompt_embedding': True, + 'camera_names': ['droid_shoulder_light_randomization', + 'wrist_camera_zed_mini'], + 'checkpoint_path': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt', + 'device': 'cuda:0', + 'name': 'wan_molmobot_franka', + 'obs_camera_name': 'droid_shoulder_light_randomization', + 'obs_image_key': 'rgb_head', + 'obs_state_key': 'robot_state', + 'obs_wrist_camera_name': 'wrist_camera_zed_mini', + 'obs_wrist_image_key': 'rgb_wrist', + 'policy_cls': , + 'policy_type': 'learned', + 'prompt_embedding_cache_dir': '/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan', + 't5_tokenizer_path': 'google/umt5-xxl', + 'task_description_fallback': 'manipulate the target object', + 'text_context_key': 'text_context', + 'text_embedding_device': 'cpu', + 'text_embedding_dtype': 'bf16', + 'text_embedding_text_len': 512, + 'use_ema': False, + 'wan_checkpoint_dir': '/share_data_prj/chenyuanpei/Wan2.2-TI2V-5B'}, + 'policy_dt_ms': 66.0, + 'profile': False, + 'profiler': None, + 'robot_config': {'K_damping': None, + 'K_stiffness': None, + 'action_noise_config': {'action_scale_factor': 0.1, + 'base_action_scale_factor': 0.1, + 'enabled': False, + 'max_base_position_noise': 0.02, + 'max_base_rotation_noise': 0.05, + 'max_tcp_position_noise': 0.02, + 'max_tcp_rotation_noise': 0.1, + 'rotation_noise_scale': 0.1}, + 'base_size': [0.5, 0.5, 0.58], + 'command_mode': {'arm': 'joint_rel_position', + 'gripper': 'joint_position'}, + 'default_world_pose': [0, 0, 0, 1, 0, 0, 0], + 'gravcomp': True, + 'init_qpos': {'arm': [0, + -0.7853, + 0, + -2.35619, + 0, + 1.57079, + 0.0], + 'gripper': [0.00296, 0.00296]}, + 'init_qpos_noise_range': {'arm': [0.025, + 0.05, + 0.075, + 0.1, + 0.125, + 0.15, + 0.175]}, + 'name': 'franka_droid', + 'perturb_texture_probability': 0.7, + 'robot_cls': , + 'robot_factory': , + 'robot_namespace': 'robot_0/', + 'robot_view_factory': , + 'robot_xml_path': PosixPath('model.xml')}, + 'scene_dataset': 'procthor-10k', + 'seed': 42, + 'sim_dt_ms': 2.0, + 'task_config': {'action_dtype': 'float32', + 'added_objects': {}, + 'object_poses': None, + 'referral_expressions': {}, + 'referral_expressions_priority': {}, + 'task_cls': None, + 'tracked_object_names': None, + 'use_sensors': True}, + 'task_config_preset_exp': None, + 'task_config_preset_scn': None, + 'task_horizon': 450, + 'task_sampler_config': {'check_robot_placement_visibility': True, + 'enable_texture_randomization': False, + 'house_inds': [1, + 15, + 21, + 32, + 45, + 68, + 71, + 87, + 90, + 102, + 112, + 128, + 138, + 155, + 159, + 182, + 192, + 196, + 215, + 227, + 243, + 248, + 258, + 278, + 286, + 306, + 314, + 329, + 330, + 351, + 354, + 369, + 375, + 391, + 404, + 417, + 424, + 441, + 445, + 472, + 478, + 494, + 508, + 511, + 527, + 537, + 550, + 553, + 572, + 575, + 589, + 595, + 614, + 626, + 640, + 642, + 665, + 669, + 688, + 702, + 704, + 724, + 738, + 749, + 767, + 772, + 788, + 804, + 820, + 831, + 844, + 849, + 867, + 885, + 890, + 898, + 916, + 923, + 941, + 942, + 955, + 963, + 982, + 994], + 'load_robot_from_file': True, + 'max_allowed_sequential_irrecoverable_failures': 5, + 'max_allowed_sequential_rollout_failures': 10, + 'max_allowed_sequential_task_sampler_failures': 10, + 'max_asset_failures': 10, + 'max_tasks': 10000, + 'max_total_attempts_multiplier': 6, + 'randomize_dynamics': False, + 'randomize_lighting': False, + 'randomize_robot_textures': False, + 'randomize_textures': False, + 'randomize_textures_all': False, + 'robot_placement_exclusion_threshold': 0.15, + 'robot_placement_rotation_range_rad': 0.7853981633974483, + 'samples_per_house': 2, + 'scene_xml_paths': None, + 'sim_settle_timesteps': 500, + 'task_batch_size': 1, + 'task_sampler_class': , + 'verbose': False}, + 'task_type': 'pick', + 'terminate_upon_success': False, + 'use_filament': False, + 'use_passive_viewer': False, + 'use_wandb': False, + 'viewer_cam_dict': {'azimuth': 45.0, + 'distance': 5.0, + 'elevation': -30.0, + 'lookat': [0.0, 0.0, 0.5]}, + 'wandb_name': None, + 'wandb_project': 'mlspaces-benchmark-eval'} +[2026-05-24 16:04:45,162] INFO Saved experiment configuration to /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445 +[05/24 16:04:45 Worker 0 INFO pipeline.py:439] Worker 0 initializing worker-level task sampler: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:04:45 Worker 0 INFO pipeline.py:445] Worker 0 finished worker-level task sampler init: BaseMujocoTaskSampler +[05/24 16:04:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 1 (index 0/84) +[05/24 16:04:45 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 1 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:04:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +Using SCENES_ROOT: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes +[05/24 16:04:45 Worker 0 INFO task_sampler.py:113] Loaded 4 assets from static blacklist +WARNING:2026-05-24 16:04:46,650:jax._src.xla_bridge:794: An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[2026-05-24 16:04:46,650] WARNING An NVIDIA GPU may be present on this machine, but a CUDA-enabled jaxlib is not installed. Falling back to cpu. +[05/24 16:04:47 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_1_ceiling.xml +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=1, scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 20 objects +[05/24 16:04:47 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:04:47 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:04:47 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:04:47 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:04:47 Worker 0 INFO pipeline.py:1050] Worker 0 house 1 episode 0/1 collected=0/2 +[05/24 16:04:47 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +2026-05-24 16:04:48.527 | INFO | model_inference_client.policies.policy_base:__init__:48 - PolicyBase initialized on device: cuda:0 +[2026-05-24 16:04:49,549] INFO Loading pretrained weights from Hugging Face hub (timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k) +[2026-05-24 16:04:49,893] INFO [timm/vit_small_r26_s32_224.augreg_in21k_ft_in1k] Safe alternative available for 'pytorch_model.bin' (as 'model.safetensors'). Loading weights using safetensors. +[2026-05-24 16:04:50,598] INFO Number of parameters in DiT: 1.821428e+07 +[2026-05-24 16:04:59,201] INFO Loaded generic psi-policy checkpoint | target=psi_policy.policy.psi_policy.PsiPolicy | obs_keys=['rgb_head', 'rgb_wrist', 'robot_state', 'text_context'] | action_horizon=16 | action_dim=8 +[2026-05-24 16:04:59,210] INFO Loaded MolmoSpaces policy | checkpoint=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt | target=psi_policy.policy.psi_policy.PsiPolicy | device=cuda:0 | action_chunk_size=8 +[05/24 16:05:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:05:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 1 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_2_0_2 completed with success=True +[05/24 16:05:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_1: 1 episodes +[05/24 16:05:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 127 timesteps +[05/24 16:05:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:05:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_1 +[05/24 16:05:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_1 in 2.14s (batch: 2.08s, save: 0.06s) +[05/24 16:05:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_1 +[05/24 16:05:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 1: 1/1 successful episodes +[05/24 16:05:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 15 (index 1/84) +[05/24 16:05:41 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 15 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:05:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:05:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_15_ceiling.xml +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=15, scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 90 objects +[05/24 16:05:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:05:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:05:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:05:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:05:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 15 episode 0/1 collected=0/2 +[05/24 16:05:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:05:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 15 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 16:07:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_15: 1 episodes +[05/24 16:07:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 267 timesteps +[05/24 16:07:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:05 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_15 in 1.92s (batch: 1.85s, save: 0.07s) +[05/24 16:07:05 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_15 +[05/24 16:07:05 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 15: 1/1 successful episodes +[05/24 16:07:05 Worker 0 INFO pipeline.py:473] Worker 0 starting house 21 (index 2/84) +[05/24 16:07:05 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 21 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue rectangular pot' +[05/24 16:07:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 0/2 collected=0/2 +[05/24 16:07:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:08 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:07:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:07:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_21_ceiling.xml +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=21, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:07:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:07:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 21 episode 1/2 collected=1/2 +[05/24 16:07:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:07:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 21 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=True +[05/24 16:07:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_21: 2 episodes +[05/24 16:07:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:07:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:07:40 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_21 +[05/24 16:07:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_21 in 4.08s (batch: 4.02s, save: 0.05s) +[05/24 16:07:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_21 +[05/24 16:07:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 21: 2/2 successful episodes +[05/24 16:07:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 32 (index 3/84) +[05/24 16:07:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 32 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:07:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:07:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:07:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:07:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:07:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:07:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:07:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 0/2 collected=0/2 +[05/24 16:07:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:09:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:09:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_32_ceiling.xml +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=32, scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 80 objects +[05/24 16:09:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:09:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:09:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:09:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:09:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 32 episode 1/2 collected=1/2 +[05/24 16:09:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:09:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:10:52 Worker 0 INFO pipeline.py:1114] Worker 0 house 32 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 16:10:56 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_32: 2 episodes +[05/24 16:10:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:10:58 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:11:00 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:01 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_32 in 4.92s (batch: 4.74s, save: 0.18s) +[05/24 16:11:01 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_32 +[05/24 16:11:01 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 32: 0/2 successful episodes +[05/24 16:11:01 Worker 0 INFO pipeline.py:473] Worker 0 starting house 45 (index 4/84) +[05/24 16:11:01 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 45 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:04 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_45_ceiling.xml +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=45, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:11:04 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:04 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:04 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:04 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 16:11:04 Worker 0 INFO pipeline.py:1050] Worker 0 house 45 episode 0/1 collected=0/2 +[05/24 16:11:04 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:05 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 45 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=True +[05/24 16:11:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_45: 1 episodes +[05/24 16:11:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 73 timesteps +[05/24 16:11:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_45 +[05/24 16:11:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_45 in 1.82s (batch: 1.79s, save: 0.03s) +[05/24 16:11:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_45 +[05/24 16:11:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 45: 1/1 successful episodes +[05/24 16:11:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 68 (index 5/84) +[05/24 16:11:23 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 68 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_68_ceiling.xml +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=68, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 16:11:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:11:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 68 episode 0/1 collected=0/2 +[05/24 16:11:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:11:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 68 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=True +[05/24 16:11:38 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_68: 1 episodes +[05/24 16:11:38 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:11:40 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:11:40 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_68 +[05/24 16:11:40 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_68 in 2.24s (batch: 2.21s, save: 0.03s) +[05/24 16:11:41 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_68 +[05/24 16:11:41 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 68: 1/1 successful episodes +[05/24 16:11:41 Worker 0 INFO pipeline.py:473] Worker 0 starting house 71 (index 6/84) +[05/24 16:11:41 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 71 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:11:41 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:11:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:11:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:11:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:11:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:11:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:11:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 0/2 collected=0/2 +[05/24 16:11:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:11:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:12:01 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:12:05 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:12:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_71_ceiling.xml +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=71, scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 16:12:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:12:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:12:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:12:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the medium ripe red tomato with stem' +[05/24 16:12:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 71 episode 1/2 collected=1/2 +[05/24 16:12:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:12:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:13:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 71 episode 1 object tomato_dfd117ba449fe073d874c64a63d0a66e_1_0_2 completed with success=False +[05/24 16:13:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_71: 2 episodes +[05/24 16:13:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:13:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:13:52 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_71 +[05/24 16:13:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_71 in 4.01s (batch: 3.90s, save: 0.12s) +[05/24 16:13:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_71 +[05/24 16:13:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 71: 1/2 successful episodes +[05/24 16:13:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 87 (index 7/84) +[05/24 16:13:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 87 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:13:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:13:58 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:13:58 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:13:58 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:13:58 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:13:58 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 16:13:58 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 0/2 collected=0/2 +[05/24 16:13:58 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:15:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=False +[05/24 16:15:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:15:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_87_ceiling.xml +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=87, scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 73 objects +[05/24 16:15:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:15:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:15:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:15:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe smooth medium red apple' +[05/24 16:15:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 87 episode 1/2 collected=1/2 +[05/24 16:15:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:15:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:16:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 87 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 16:16:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_87: 2 episodes +[05/24 16:16:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:16:56 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_87 in 4.25s (batch: 4.09s, save: 0.16s) +[05/24 16:16:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_87 +[05/24 16:16:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 87: 0/2 successful episodes +[05/24 16:16:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 90 (index 8/84) +[05/24 16:16:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 90 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:16:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:16:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_90_ceiling.xml +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=90, scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 16:16:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:16:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:16:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:16:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:16:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 90 episode 0/1 collected=0/2 +[05/24 16:16:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:16:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:08 Worker 0 INFO pipeline.py:1114] Worker 0 house 90 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:18:11 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_90: 1 episodes +[05/24 16:18:11 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:18:14 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:14 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_90 in 2.50s (batch: 2.42s, save: 0.09s) +[05/24 16:18:14 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_90 +[05/24 16:18:14 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 90: 0/1 successful episodes +[05/24 16:18:14 Worker 0 INFO pipeline.py:473] Worker 0 starting house 102 (index 9/84) +[05/24 16:18:14 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 102 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:18:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 0/2 collected=0/2 +[05/24 16:18:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 16:18:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:35 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_102_ceiling.xml +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=102, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 46 objects +[05/24 16:18:35 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:35 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:35 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:35 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle with handle' +[05/24 16:18:35 Worker 0 INFO pipeline.py:1050] Worker 0 house 102 episode 1/2 collected=1/2 +[05/24 16:18:35 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:18:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 102 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 16:18:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_102: 2 episodes +[05/24 16:18:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 64 timesteps +[05/24 16:18:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:18:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_102 +[05/24 16:18:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_102 in 3.58s (batch: 3.53s, save: 0.05s) +[05/24 16:18:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_102 +[05/24 16:18:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 102: 2/2 successful episodes +[05/24 16:18:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 112 (index 10/84) +[05/24 16:18:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 112 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:18:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:18:53 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:18:53 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:18:53 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:18:53 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:18:53 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light wooden cup with rim' +[05/24 16:18:53 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 0/2 collected=0/2 +[05/24 16:18:53 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:18:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:19:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 0 object cup_4697b73732349085e30935e0f35566dc_1_0_2 completed with success=True +[05/24 16:19:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:19:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_112_ceiling.xml +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=112, scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 16:19:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:19:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:19:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:19:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle with golden pump' +[05/24 16:19:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 112 episode 1/2 collected=1/2 +[05/24 16:19:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:19:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 112 episode 1 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_2 completed with success=False +[05/24 16:20:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_112: 2 episodes +[05/24 16:20:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 102 timesteps +[05/24 16:20:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:20:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_112 in 3.91s (batch: 3.80s, save: 0.11s) +[05/24 16:20:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_112 +[05/24 16:20:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 112: 1/2 successful episodes +[05/24 16:20:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 128 (index 11/84) +[05/24 16:20:29 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 128 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:20:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:20:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 0/2 collected=0/2 +[05/24 16:20:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:20:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_2 completed with success=True +[05/24 16:20:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:20:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_128_ceiling.xml +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=128, scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 16:20:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:20:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:20:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:20:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:20:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 128 episode 1/2 collected=1/2 +[05/24 16:20:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:20:44 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 128 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_2 completed with success=True +[05/24 16:21:03 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_128: 2 episodes +[05/24 16:21:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:21:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_128 +[05/24 16:21:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_128 in 3.71s (batch: 3.64s, save: 0.07s) +[05/24 16:21:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_128 +[05/24 16:21:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 128: 2/2 successful episodes +[05/24 16:21:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 138 (index 12/84) +[05/24 16:21:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 138 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_138_ceiling.xml +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=138, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 25 objects +[05/24 16:21:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spray bottle' +[05/24 16:21:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 138 episode 0/1 collected=0/2 +[05/24 16:21:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 138 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_2 completed with success=True +[05/24 16:21:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_138: 1 episodes +[05/24 16:21:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:21:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_138 in 1.93s (batch: 1.90s, save: 0.03s) +[05/24 16:21:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_138 +[05/24 16:21:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 138: 1/1 successful episodes +[05/24 16:21:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 155 (index 13/84) +[05/24 16:21:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 155 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:21:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 0/2 collected=0/2 +[05/24 16:21:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 0 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_6 completed with success=True +[05/24 16:21:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:21:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_155_ceiling.xml +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=155, scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 40 objects +[05/24 16:21:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:21:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:21:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:21:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:21:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 155 episode 1/2 collected=1/2 +[05/24 16:21:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:21:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:21:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 155 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 16:21:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_155: 2 episodes +[05/24 16:21:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 76 timesteps +[05/24 16:21:56 Worker 0 INFO save_utils.py:284] Preparing episode data: 33 timesteps +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:21:58 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_155 in 3.59s (batch: 3.54s, save: 0.05s) +[05/24 16:21:58 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_155 +[05/24 16:21:58 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 155: 2/2 successful episodes +[05/24 16:21:58 Worker 0 INFO pipeline.py:473] Worker 0 starting house 159 (index 14/84) +[05/24 16:21:58 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 159 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:21:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:22:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_159_ceiling.xml +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=159, scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 64 objects +[05/24 16:22:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:22:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:22:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:22:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 16:22:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 159 episode 0/1 collected=0/2 +[05/24 16:22:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:22:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:23:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 159 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 16:23:27 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_159: 1 episodes +[05/24 16:23:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:23:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:23:30 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_159 +[05/24 16:23:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_159 in 2.59s (batch: 2.49s, save: 0.10s) +[05/24 16:23:31 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_159 +[05/24 16:23:31 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 159: 0/1 successful episodes +[05/24 16:23:31 Worker 0 INFO pipeline.py:473] Worker 0 starting house 182 (index 15/84) +[05/24 16:23:31 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 182 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:23:31 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:23:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_182_ceiling.xml +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=182, scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 99 objects +[05/24 16:23:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:23:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:23:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:23:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 16:23:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 182 episode 0/1 collected=0/2 +[05/24 16:23:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:16 Worker 0 INFO pipeline.py:1114] Worker 0 house 182 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 16:25:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_182: 1 episodes +[05/24 16:25:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:25:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:25:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_182 in 2.08s (batch: 1.98s, save: 0.10s) +[05/24 16:25:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_182 +[05/24 16:25:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 182: 0/1 successful episodes +[05/24 16:25:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 192 (index 16/84) +[05/24 16:25:21 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 192 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:25:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 16:25:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 0/2 collected=0/2 +[05/24 16:25:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:25:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 0 object butterknife_f211d9b5a6beb604cda0c1df985a0093_1_0_6 completed with success=True +[05/24 16:25:40 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:25:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_192_ceiling.xml +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=192, scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 16:25:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:25:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:25:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:25:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 16:25:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 192 episode 1/2 collected=1/2 +[05/24 16:25:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:25:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 192 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_2_0_6 completed with success=False +[05/24 16:27:12 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_192: 2 episodes +[05/24 16:27:12 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 16:27:14 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:16 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_192 +[05/24 16:27:16 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_192 in 4.03s (batch: 3.91s, save: 0.12s) +[05/24 16:27:17 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_192 +[05/24 16:27:17 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 192: 1/2 successful episodes +[05/24 16:27:17 Worker 0 INFO pipeline.py:473] Worker 0 starting house 196 (index 17/84) +[05/24 16:27:17 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 196 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:17 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_196_ceiling.xml +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=196, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 16:27:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 16:27:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 196 episode 0/1 collected=0/2 +[05/24 16:27:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:27:33 Worker 0 INFO pipeline.py:1114] Worker 0 house 196 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 16:27:36 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_196: 1 episodes +[05/24 16:27:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 16:27:39 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:27:39 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_196 in 2.23s (batch: 2.17s, save: 0.05s) +[05/24 16:27:39 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_196 +[05/24 16:27:39 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 196: 1/1 successful episodes +[05/24 16:27:39 Worker 0 INFO pipeline.py:473] Worker 0 starting house 215 (index 18/84) +[05/24 16:27:39 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 215 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:27:39 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:27:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_215_ceiling.xml +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=215, scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 9 objects +[05/24 16:27:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:27:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:27:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:27:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:27:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 215 episode 0/1 collected=0/2 +[05/24 16:27:41 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:27:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:28:46 Worker 0 INFO pipeline.py:1114] Worker 0 house 215 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:28:49 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_215: 1 episodes +[05/24 16:28:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:28:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:28:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_215 in 2.75s (batch: 2.65s, save: 0.10s) +[05/24 16:28:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_215 +[05/24 16:28:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 215: 0/1 successful episodes +[05/24 16:28:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 227 (index 19/84) +[05/24 16:28:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 227 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:28:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:28:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:28:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:28:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:28:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:28:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 16:28:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 0/2 collected=0/2 +[05/24 16:28:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:28:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_6 completed with success=True +[05/24 16:29:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_227_ceiling.xml +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=227, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 16:29:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:29:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 227 episode 1/2 collected=1/2 +[05/24 16:29:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:29:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 227 episode 1 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_4 completed with success=True +[05/24 16:29:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_227: 2 episodes +[05/24 16:29:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 50 timesteps +[05/24 16:29:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 70 timesteps +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:29:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_227 in 4.54s (batch: 4.49s, save: 0.06s) +[05/24 16:29:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_227 +[05/24 16:29:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 227: 2/2 successful episodes +[05/24 16:29:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 243 (index 20/84) +[05/24 16:29:30 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 243 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:29:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:29:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_243_ceiling.xml +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=243, scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 37 objects +[05/24 16:29:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:29:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:29:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:29:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:29:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 243 episode 0/1 collected=0/2 +[05/24 16:29:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:29:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:30:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 243 episode 0 object saltshaker_fae1c48e1d061403dc3bc39cef9e979a_1_0_6 completed with success=False +[05/24 16:30:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_243: 1 episodes +[05/24 16:30:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:30:53 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:30:53 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_243 in 2.06s (batch: 1.98s, save: 0.08s) +[05/24 16:30:53 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_243 +[05/24 16:30:53 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 243: 0/1 successful episodes +[05/24 16:30:53 Worker 0 INFO pipeline.py:473] Worker 0 starting house 248 (index 21/84) +[05/24 16:30:53 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 248 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:30:53 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:30:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:30:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:30:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:30:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:30:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:30:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 0/2 collected=0/2 +[05/24 16:30:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:30:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_3 completed with success=True +[05/24 16:31:08 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_248_ceiling.xml +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=248, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 16:31:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 16:31:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 248 episode 1/2 collected=1/2 +[05/24 16:31:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 248 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=True +[05/24 16:31:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_248: 2 episodes +[05/24 16:31:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 71 timesteps +[05/24 16:31:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_248 in 4.53s (batch: 4.47s, save: 0.06s) +[05/24 16:31:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_248 +[05/24 16:31:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 248: 2/2 successful episodes +[05/24 16:31:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 258 (index 22/84) +[05/24 16:31:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 258 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_258_ceiling.xml +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=258, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 30 objects +[05/24 16:31:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass salt shaker' +[05/24 16:31:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 258 episode 0/1 collected=0/2 +[05/24 16:31:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:31:31 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:31:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 258 episode 0 object saltshaker_ae8db92b68885e8a5331b49cf1534319_1_0_6 completed with success=True +[05/24 16:31:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_258: 1 episodes +[05/24 16:31:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:31:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:31:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_258 +[05/24 16:31:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_258 in 1.88s (batch: 1.85s, save: 0.03s) +[05/24 16:31:45 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_258 +[05/24 16:31:45 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 258: 1/1 successful episodes +[05/24 16:31:45 Worker 0 INFO pipeline.py:473] Worker 0 starting house 278 (index 23/84) +[05/24 16:31:45 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 278 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:31:45 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:31:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:31:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:31:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:31:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:31:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 16:31:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 0/2 collected=0/2 +[05/24 16:31:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 0 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_7 completed with success=True +[05/24 16:32:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:32:43 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_278_ceiling.xml +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=278, scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:32:43 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:32:43 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:32:43 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:32:43 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 16:32:43 Worker 0 INFO pipeline.py:1050] Worker 0 house 278 episode 1/2 collected=1/2 +[05/24 16:32:43 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:32:43 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:32:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 278 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 16:33:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_278: 2 episodes +[05/24 16:33:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 232 timesteps +[05/24 16:33:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_278 in 4.69s (batch: 4.60s, save: 0.09s) +[05/24 16:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_278 +[05/24 16:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 278: 2/2 successful episodes +[05/24 16:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 286 (index 24/84) +[05/24 16:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 286 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_286_ceiling.xml +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=286, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 16:33:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:33:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 286 episode 0/1 collected=0/2 +[05/24 16:33:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:33:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 286 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_2 completed with success=True +[05/24 16:33:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_286: 1 episodes +[05/24 16:33:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 52 timesteps +[05/24 16:33:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:33:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_286 +[05/24 16:33:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_286 in 1.86s (batch: 1.83s, save: 0.03s) +[05/24 16:33:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_286 +[05/24 16:33:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 286: 1/1 successful episodes +[05/24 16:33:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 306 (index 25/84) +[05/24 16:33:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 306 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:33:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soapdispenser' +[05/24 16:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 0/2 collected=0/2 +[05/24 16:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:34:54 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_5 completed with success=False +[05/24 16:34:58 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:35:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_306_ceiling.xml +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=306, scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 62 objects +[05/24 16:35:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:35:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:35:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:35:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow kitchen knife blade' +[05/24 16:35:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 306 episode 1/2 collected=1/2 +[05/24 16:35:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[2026-05-24 16:36:08,232] INFO loading /share_data_prj/chenyuanpei/Wan2.2-TI2V-5B/models_t5_umt5-xxl-enc-bf16.pth +/home/yuanpei/miniconda3/envs/molmospace/lib/python3.11/site-packages/huggingface_hub/file_download.py:945: FutureWarning: `resume_download` is deprecated and will be removed in version 1.0.0. Downloads always resume when possible. If you want to force a new download, use `force_download=True`. + warnings.warn( +[05/24 16:36:54 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:38:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 306 episode 1 object knife_79fd11da07e86802ec5235db6beee9a8_1_0_8 completed with success=False +[05/24 16:38:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_306: 2 episodes +[05/24 16:38:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:38:21 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_306 +[05/24 16:38:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_306 in 5.18s (batch: 5.00s, save: 0.18s) +[05/24 16:38:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_306 +[05/24 16:38:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 306: 0/2 successful episodes +[05/24 16:38:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 314 (index 26/84) +[05/24 16:38:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 314 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:38:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:38:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_314_ceiling.xml +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=314, scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 66 objects +[05/24 16:38:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:38:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:38:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:38:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the utensil' +[05/24 16:38:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 314 episode 0/1 collected=0/2 +[05/24 16:38:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:38:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:39:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 314 episode 0 object pot_e48cd3dc3aab8474de97f333d916c74d_1_0_6 completed with success=False +[05/24 16:39:54 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_314: 1 episodes +[05/24 16:39:54 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:39:56 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:39:56 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_314 +[05/24 16:39:56 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_314 in 2.07s (batch: 1.99s, save: 0.08s) +[05/24 16:39:57 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_314 +[05/24 16:39:57 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 314: 0/1 successful episodes +[05/24 16:39:57 Worker 0 INFO pipeline.py:473] Worker 0 starting house 329 (index 27/84) +[05/24 16:39:57 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 329 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:39:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:39:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_329_ceiling.xml +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=329, scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:39:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:39:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:39:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:39:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 16:39:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 329 episode 0/1 collected=0/2 +[05/24 16:39:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 329 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_7 completed with success=True +[05/24 16:40:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_329: 1 episodes +[05/24 16:40:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 158 timesteps +[05/24 16:40:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:40:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_329 in 1.90s (batch: 1.86s, save: 0.05s) +[05/24 16:40:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_329 +[05/24 16:40:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 329: 1/1 successful episodes +[05/24 16:40:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 330 (index 28/84) +[05/24 16:40:33 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 330 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:40:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box' +[05/24 16:40:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 0/2 collected=0/2 +[05/24 16:40:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:40:51 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=True +[05/24 16:40:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:40:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_330_ceiling.xml +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=330, scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 39 objects +[05/24 16:40:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:40:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:40:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:40:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:40:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 330 episode 1/2 collected=1/2 +[05/24 16:40:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:40:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:42:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 330 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=False +[05/24 16:42:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_330: 2 episodes +[05/24 16:42:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 16:42:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:42:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_330 +[05/24 16:42:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_330 in 4.75s (batch: 4.64s, save: 0.11s) +[05/24 16:42:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_330 +[05/24 16:42:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 330: 1/2 successful episodes +[05/24 16:42:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 351 (index 29/84) +[05/24 16:42:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 351 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:42:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:42:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_351_ceiling.xml +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=351, scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:42:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 100 objects +[05/24 16:42:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:42:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:42:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:42:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy red tomato' +[05/24 16:42:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 351 episode 0/1 collected=0/2 +[05/24 16:42:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:42:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 351 episode 0 object tomato_f250f33e7f2a11b364d8ff496e2fc4e4_1_0_2 completed with success=False +[05/24 16:44:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_351: 1 episodes +[05/24 16:44:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:44:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:44:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_351 +[05/24 16:44:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_351 in 2.49s (batch: 2.39s, save: 0.09s) +[05/24 16:44:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_351 +[05/24 16:44:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 351: 0/1 successful episodes +[05/24 16:44:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 354 (index 30/84) +[05/24 16:44:11 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 354 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:44:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark kitchen spatula' +[05/24 16:44:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 0/2 collected=0/2 +[05/24 16:44:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:44:26 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 16:44:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_354_ceiling.xml +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=354, scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 60 objects +[05/24 16:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 16:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 354 episode 1/2 collected=1/2 +[05/24 16:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 354 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 16:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_354: 2 episodes +[05/24 16:46:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_354 in 4.90s (batch: 4.78s, save: 0.12s) +[05/24 16:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_354 +[05/24 16:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 354: 1/2 successful episodes +[05/24 16:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 369 (index 31/84) +[05/24 16:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 369 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_369_ceiling.xml +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=369, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished stainless steel fork with curve' +[05/24 16:46:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 369 episode 0/1 collected=0/2 +[05/24 16:46:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 369 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=True +[05/24 16:46:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_369: 1 episodes +[05/24 16:46:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 16:46:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:46:23 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_369 +[05/24 16:46:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_369 in 2.29s (batch: 2.26s, save: 0.03s) +[05/24 16:46:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_369 +[05/24 16:46:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 369: 1/1 successful episodes +[05/24 16:46:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 375 (index 32/84) +[05/24 16:46:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 375 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:46:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the peppershaker' +[05/24 16:46:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 0/2 collected=0/2 +[05/24 16:46:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:46:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=True +[05/24 16:46:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:46:44 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_375_ceiling.xml +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=375, scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 32 objects +[05/24 16:46:44 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:46:44 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:46:44 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:46:44 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green ladle' +[05/24 16:46:44 Worker 0 INFO pipeline.py:1050] Worker 0 house 375 episode 1/2 collected=1/2 +[05/24 16:46:44 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:46:45 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:47:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 375 episode 1 object ladle_7a7203c58f86b622645b1721d02cab3c_1_0_2 completed with success=False +[05/24 16:47:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_375: 2 episodes +[05/24 16:47:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 69 timesteps +[05/24 16:48:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:48:03 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_375 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 16:48:03 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_375 +[05/24 16:48:03 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 375: 1/2 successful episodes +[05/24 16:48:03 Worker 0 INFO pipeline.py:473] Worker 0 starting house 391 (index 33/84) +[05/24 16:48:03 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 391 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:48:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 16:48:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 0/2 collected=0/2 +[05/24 16:48:11 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:48:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:48:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_6 completed with success=True +[05/24 16:48:27 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:48:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_391_ceiling.xml +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=391, scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 105 objects +[05/24 16:48:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:48:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:48:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:48:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue soap bottle' +[05/24 16:48:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 391 episode 1/2 collected=1/2 +[05/24 16:48:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:50:13 Worker 0 INFO pipeline.py:1114] Worker 0 house 391 episode 1 object soapdispenser_f1b1886ddc2b7f9192d0fa92bd7535d0_1_0_9 completed with success=False +[05/24 16:50:16 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_391: 2 episodes +[05/24 16:50:16 Worker 0 INFO save_utils.py:284] Preparing episode data: 62 timesteps +[05/24 16:50:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:50:19 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:50:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_391 in 3.88s (batch: 3.77s, save: 0.11s) +[05/24 16:50:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_391 +[05/24 16:50:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 391: 1/2 successful episodes +[05/24 16:50:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 404 (index 34/84) +[05/24 16:50:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 404 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:50:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:50:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_404_ceiling.xml +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=404, scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 69 objects +[05/24 16:50:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:50:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:50:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:50:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote control' +[05/24 16:50:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 404 episode 0/1 collected=0/2 +[05/24 16:50:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:51:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 404 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_6 completed with success=False +[05/24 16:51:57 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_404: 1 episodes +[05/24 16:51:57 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:51:59 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:51:59 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_404 +[05/24 16:51:59 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_404 in 2.02s (batch: 1.93s, save: 0.08s) +[05/24 16:52:00 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_404 +[05/24 16:52:00 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 404: 0/1 successful episodes +[05/24 16:52:00 Worker 0 INFO pipeline.py:473] Worker 0 starting house 417 (index 35/84) +[05/24 16:52:00 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 417 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:52:00 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:01 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:01 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:01 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:01 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:01 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug' +[05/24 16:52:01 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 0/2 collected=0/2 +[05/24 16:52:01 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:02 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:52:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 0 object mug_92c42ca5366a9cee73d1919f977d8b28_1_0_2 completed with success=True +[05/24 16:52:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:52:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_417_ceiling.xml +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=417, scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 10 objects +[05/24 16:52:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:52:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:52:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:52:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent glass bowl' +[05/24 16:52:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 417 episode 1/2 collected=1/2 +[05/24 16:52:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:52:15 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:53:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 417 episode 1 object bowl_46a21212675e4d90993a86b1232e6f40_1_0_2 completed with success=False +[05/24 16:53:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_417: 2 episodes +[05/24 16:53:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 16:53:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:53:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_417 +[05/24 16:53:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_417 in 4.00s (batch: 3.89s, save: 0.11s) +[05/24 16:53:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_417 +[05/24 16:53:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 417: 1/2 successful episodes +[05/24 16:53:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 424 (index 36/84) +[05/24 16:53:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 424 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:53:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:53:29 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_424_ceiling.xml +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=424, scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 86 objects +[05/24 16:53:29 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:53:29 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:53:29 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:53:29 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 16:53:29 Worker 0 INFO pipeline.py:1050] Worker 0 house 424 episode 0/1 collected=0/2 +[05/24 16:53:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:54:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 424 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_5 completed with success=False +[05/24 16:55:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_424: 1 episodes +[05/24 16:55:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:55:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:04 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_424 in 2.57s (batch: 2.44s, save: 0.12s) +[05/24 16:55:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_424 +[05/24 16:55:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 424: 0/1 successful episodes +[05/24 16:55:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 441 (index 37/84) +[05/24 16:55:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 441 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_441_ceiling.xml +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=441, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 16:55:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte black ceramic mug' +[05/24 16:55:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 441 episode 0/1 collected=0/2 +[05/24 16:55:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:55:14 Worker 0 INFO pipeline.py:1114] Worker 0 house 441 episode 0 object mug_ac3a060b0c3963b34d55fe717f30ee52_1_0_6 completed with success=True +[05/24 16:55:17 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_441: 1 episodes +[05/24 16:55:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 43 timesteps +[05/24 16:55:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:55:20 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_441 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 16:55:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_441 +[05/24 16:55:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 441: 1/1 successful episodes +[05/24 16:55:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 445 (index 38/84) +[05/24 16:55:20 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 445 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:55:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:55:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:55:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:55:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:55:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:55:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the yellow knife' +[05/24 16:55:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 0/2 collected=0/2 +[05/24 16:55:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:55:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:56:45 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 0 object knife_d1a1d17c285fd8977f4a313d2a06c8e2_1_0_6 completed with success=False +[05/24 16:56:48 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:56:52 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_445_ceiling.xml +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=445, scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 16:56:52 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:56:52 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:56:52 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:56:52 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 16:56:52 Worker 0 INFO pipeline.py:1050] Worker 0 house 445 episode 1/2 collected=1/2 +[05/24 16:56:52 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:56:53 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:57:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 445 episode 1 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 16:57:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_445: 2 episodes +[05/24 16:57:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 16:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 126 timesteps +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 16:57:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_445 in 4.74s (batch: 4.62s, save: 0.12s) +[05/24 16:57:23 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_445 +[05/24 16:57:23 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 445: 1/2 successful episodes +[05/24 16:57:23 Worker 0 INFO pipeline.py:473] Worker 0 starting house 472 (index 39/84) +[05/24 16:57:23 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 472 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 16:57:23 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 16:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 0/2 collected=0/2 +[05/24 16:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:58:39 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=False +[05/24 16:58:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 16:58:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_472_ceiling.xml +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=472, scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 34 objects +[05/24 16:58:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 16:58:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 16:58:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 16:58:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 16:58:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 472 episode 1/2 collected=1/2 +[05/24 16:58:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 16:58:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 16:59:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 472 episode 1 object tomato_a3d246e7c1915021df1873ae97fb052e_1_0_6 completed with success=False +[05/24 16:59:59 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_472: 2 episodes +[05/24 16:59:59 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:00:04 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_472 in 5.01s (batch: 4.83s, save: 0.17s) +[05/24 17:00:04 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_472 +[05/24 17:00:04 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 472: 0/2 successful episodes +[05/24 17:00:04 Worker 0 INFO pipeline.py:473] Worker 0 starting house 478 (index 40/84) +[05/24 17:00:04 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 478 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:00:04 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:00:06 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_478_ceiling.xml +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=478, scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:00:06 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:00:06 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:00:06 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:00:06 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:00:06 Worker 0 INFO pipeline.py:1050] Worker 0 house 478 episode 0/1 collected=0/2 +[05/24 17:00:06 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:00:06 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 478 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_3 completed with success=False +[05/24 17:01:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_478: 1 episodes +[05/24 17:01:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:01:18 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:18 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_478 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:01:18 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_478 +[05/24 17:01:18 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 478: 0/1 successful episodes +[05/24 17:01:18 Worker 0 INFO pipeline.py:473] Worker 0 starting house 494 (index 41/84) +[05/24 17:01:18 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 494 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:18 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:21 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_494_ceiling.xml +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=494, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:01:21 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:21 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:21 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:21 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue cooking pot with handles' +[05/24 17:01:21 Worker 0 INFO pipeline.py:1050] Worker 0 house 494 episode 0/1 collected=0/2 +[05/24 17:01:21 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:22 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:01:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 494 episode 0 object pot_c9b50543a288eda0bcfc3bc47492ef75_1_0_2 completed with success=True +[05/24 17:01:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_494: 1 episodes +[05/24 17:01:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:01:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:01:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_494 +[05/24 17:01:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_494 in 2.26s (batch: 2.23s, save: 0.03s) +[05/24 17:01:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_494 +[05/24 17:01:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 494: 1/1 successful episodes +[05/24 17:01:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 508 (index 42/84) +[05/24 17:01:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 508 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:01:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:01:38 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:01:38 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:01:38 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:01:38 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:01:38 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver kettle' +[05/24 17:01:38 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 0/2 collected=0/2 +[05/24 17:01:38 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:01:39 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:02:00 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 0 object boiler_335af387651d9869b84abf1fb099bf69_1_0_6 completed with success=True +[05/24 17:02:03 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:02:07 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_508_ceiling.xml +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=508, scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:02:07 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:02:07 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:02:07 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:02:07 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:02:07 Worker 0 INFO pipeline.py:1050] Worker 0 house 508 episode 1/2 collected=1/2 +[05/24 17:02:07 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:02:07 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:03:31 Worker 0 INFO pipeline.py:1114] Worker 0 house 508 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_3_0_6 completed with success=False +[05/24 17:03:34 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_508: 2 episodes +[05/24 17:03:34 Worker 0 INFO save_utils.py:284] Preparing episode data: 121 timesteps +[05/24 17:03:36 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:03:38 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_508 in 3.90s (batch: 3.79s, save: 0.12s) +[05/24 17:03:38 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_508 +[05/24 17:03:38 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 508: 1/2 successful episodes +[05/24 17:03:38 Worker 0 INFO pipeline.py:473] Worker 0 starting house 511 (index 43/84) +[05/24 17:03:38 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 511 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:03:38 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:03:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_511_ceiling.xml +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=511, scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 97 objects +[05/24 17:03:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:03:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:03:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:03:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown bowl' +[05/24 17:03:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 511 episode 0/1 collected=0/2 +[05/24 17:03:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:03:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:05:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 511 episode 0 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=False +[05/24 17:05:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_511: 1 episodes +[05/24 17:05:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:05:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:05:22 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_511 in 2.04s (batch: 1.96s, save: 0.09s) +[05/24 17:05:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_511 +[05/24 17:05:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 511: 0/1 successful episodes +[05/24 17:05:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 527 (index 44/84) +[05/24 17:05:22 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 527 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:05:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:05:23 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_527_ceiling.xml +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=527, scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 15 objects +[05/24 17:05:23 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:05:23 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:05:23 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:05:23 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:05:23 Worker 0 INFO pipeline.py:1050] Worker 0 house 527 episode 0/1 collected=0/2 +[05/24 17:05:23 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:05:24 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:06:29 Worker 0 INFO pipeline.py:1114] Worker 0 house 527 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:06:32 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_527: 1 episodes +[05/24 17:06:32 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:06:34 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:06:34 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_527 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:06:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_527 +[05/24 17:06:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 527: 0/1 successful episodes +[05/24 17:06:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 537 (index 45/84) +[05/24 17:06:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 537 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:06:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:06:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:06:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:06:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:06:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:06:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the container' +[05/24 17:06:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 0/2 collected=0/2 +[05/24 17:06:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:06:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_2 completed with success=False +[05/24 17:08:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:15 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_537_ceiling.xml +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=537, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 83 objects +[05/24 17:08:15 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:15 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:15 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:15 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the metal spoon' +[05/24 17:08:15 Worker 0 INFO pipeline.py:1050] Worker 0 house 537 episode 1/2 collected=1/2 +[05/24 17:08:15 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:16 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:23 Worker 0 INFO pipeline.py:1114] Worker 0 house 537 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=True +[05/24 17:08:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_537: 2 episodes +[05/24 17:08:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:08:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 41 timesteps +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:08:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_537 in 3.78s (batch: 3.67s, save: 0.10s) +[05/24 17:08:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_537 +[05/24 17:08:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 537: 1/2 successful episodes +[05/24 17:08:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 550 (index 46/84) +[05/24 17:08:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 550 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:08:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:33 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:33 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:33 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:33 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:33 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glossy beige ceramic mug with handle' +[05/24 17:08:33 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 0/2 collected=0/2 +[05/24 17:08:33 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:43 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 0 object mug_38903e9f02926f380b587d1b9de9c00b_1_0_6 completed with success=True +[05/24 17:08:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:08:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_550_ceiling.xml +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=550, scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:08:49 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:08:49 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:08:49 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:08:49 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:08:49 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the open brown cardboard box' +[05/24 17:08:49 Worker 0 INFO pipeline.py:1050] Worker 0 house 550 episode 1/2 collected=1/2 +[05/24 17:08:49 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:08:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:08:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 550 episode 1 object box_54d3d4baf11286a2a524395e4a26c893_1_0_6 completed with success=True +[05/24 17:09:02 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_550: 2 episodes +[05/24 17:09:02 Worker 0 INFO save_utils.py:284] Preparing episode data: 55 timesteps +[05/24 17:09:04 Worker 0 INFO save_utils.py:284] Preparing episode data: 47 timesteps +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:07 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_550 in 4.85s (batch: 4.79s, save: 0.06s) +[05/24 17:09:07 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_550 +[05/24 17:09:07 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 550: 2/2 successful episodes +[05/24 17:09:07 Worker 0 INFO pipeline.py:473] Worker 0 starting house 553 (index 47/84) +[05/24 17:09:07 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 553 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_553_ceiling.xml +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=553, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:09:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the gray wooden bowl' +[05/24 17:09:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 553 episode 0/1 collected=0/2 +[05/24 17:09:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:09:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 553 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_2 completed with success=True +[05/24 17:09:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_553: 1 episodes +[05/24 17:09:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 46 timesteps +[05/24 17:09:21 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:09:21 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_553 in 2.27s (batch: 2.24s, save: 0.03s) +[05/24 17:09:21 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_553 +[05/24 17:09:21 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 553: 1/1 successful episodes +[05/24 17:09:21 Worker 0 INFO pipeline.py:473] Worker 0 starting house 572 (index 48/84) +[05/24 17:09:21 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 572 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:09:21 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:09:24 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_572_ceiling.xml +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=572, scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 35 objects +[05/24 17:09:24 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:09:24 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:09:24 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:09:24 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the square glass pepper shaker' +[05/24 17:09:24 Worker 0 INFO pipeline.py:1050] Worker 0 house 572 episode 0/1 collected=0/2 +[05/24 17:09:24 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:09:25 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:10:40 Worker 0 INFO pipeline.py:1114] Worker 0 house 572 episode 0 object peppershaker_3a733d98b3ae7ba0be9ab3ea786d56b0_1_0_6 completed with success=False +[05/24 17:10:43 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_572: 1 episodes +[05/24 17:10:43 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:10:45 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:10:45 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_572 +[05/24 17:10:45 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_572 in 2.11s (batch: 2.02s, save: 0.09s) +[05/24 17:10:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_572 +[05/24 17:10:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 572: 0/1 successful episodes +[05/24 17:10:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 575 (index 49/84) +[05/24 17:10:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 575 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:10:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:10:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:10:49 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:10:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:10:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:10:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:10:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green glass wine bottle' +[05/24 17:10:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 0/2 collected=0/2 +[05/24 17:10:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:10:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:11:11 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=True +[05/24 17:11:14 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:11:18 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_575_ceiling.xml +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=575, scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 53 objects +[05/24 17:11:18 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:11:18 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:11:18 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:11:18 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:11:18 Worker 0 INFO pipeline.py:1050] Worker 0 house 575 episode 1/2 collected=1/2 +[05/24 17:11:18 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:11:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:12:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 575 episode 1 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_6 completed with success=False +[05/24 17:12:42 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_575: 2 episodes +[05/24 17:12:42 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:12:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:12:46 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_575 +[05/24 17:12:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_575 in 4.81s (batch: 4.69s, save: 0.12s) +[05/24 17:12:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_575 +[05/24 17:12:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 575: 1/2 successful episodes +[05/24 17:12:47 Worker 0 INFO pipeline.py:473] Worker 0 starting house 589 (index 50/84) +[05/24 17:12:47 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 589 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:12:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:12:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:12:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:12:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:12:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:12:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:12:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 0/2 collected=0/2 +[05/24 17:12:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:12:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:13:55 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 0 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:13:57 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:13:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_589_ceiling.xml +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=589, scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:13:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:13:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:13:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:13:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:13:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 589 episode 1/2 collected=1/2 +[05/24 17:13:59 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:13:59 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 589 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_3_0_2 completed with success=True +[05/24 17:14:19 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_589: 2 episodes +[05/24 17:14:19 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:14:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 112 timesteps +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:23 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_589 +[05/24 17:14:23 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_589 in 4.79s (batch: 4.67s, save: 0.12s) +[05/24 17:14:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_589 +[05/24 17:14:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 589: 1/2 successful episodes +[05/24 17:14:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 595 (index 51/84) +[05/24 17:14:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 595 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_595_ceiling.xml +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=595, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 17 objects +[05/24 17:14:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:14:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 595 episode 0/1 collected=0/2 +[05/24 17:14:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:14:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:14:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 595 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:14:41 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_595: 1 episodes +[05/24 17:14:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 89 timesteps +[05/24 17:14:44 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:14:44 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_595 in 2.21s (batch: 2.18s, save: 0.03s) +[05/24 17:14:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_595 +[05/24 17:14:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 595: 1/1 successful episodes +[05/24 17:14:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 614 (index 52/84) +[05/24 17:14:44 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 614 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:14:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:14:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_614_ceiling.xml +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=614, scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 8 objects +[05/24 17:14:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:14:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:14:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:14:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the means' +[05/24 17:14:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 614 episode 0/1 collected=0/2 +[05/24 17:14:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:37 Worker 0 INFO pipeline.py:1114] Worker 0 house 614 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_1_0_2 completed with success=True +[05/24 17:15:40 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_614: 1 episodes +[05/24 17:15:40 Worker 0 INFO save_utils.py:284] Preparing episode data: 360 timesteps +[05/24 17:15:42 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:15:42 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_614 +[05/24 17:15:42 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_614 in 2.02s (batch: 1.94s, save: 0.08s) +[05/24 17:15:43 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_614 +[05/24 17:15:43 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 614: 1/1 successful episodes +[05/24 17:15:43 Worker 0 INFO pipeline.py:473] Worker 0 starting house 626 (index 53/84) +[05/24 17:15:43 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 626 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:15:43 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:15:46 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:15:46 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:15:46 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:15:46 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:15:46 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte blue bowl' +[05/24 17:15:46 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 0/2 collected=0/2 +[05/24 17:15:46 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:15:47 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:15:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 0 object bowl_1225dcc85067784fe806e13437861b11_1_0_5 completed with success=True +[05/24 17:15:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:02 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_626_ceiling.xml +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=626, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 58 objects +[05/24 17:16:02 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:02 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:02 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:02 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the table knife' +[05/24 17:16:02 Worker 0 INFO pipeline.py:1050] Worker 0 house 626 episode 1/2 collected=1/2 +[05/24 17:16:02 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:03 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:16:15 Worker 0 INFO pipeline.py:1114] Worker 0 house 626 episode 1 object butterknife_f211d9b5a6beb604cda0c1df985a0093_2_0_2 completed with success=True +[05/24 17:16:18 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_626: 2 episodes +[05/24 17:16:18 Worker 0 INFO save_utils.py:284] Preparing episode data: 56 timesteps +[05/24 17:16:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 75 timesteps +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:16:22 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_626 in 3.61s (batch: 3.55s, save: 0.06s) +[05/24 17:16:22 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_626 +[05/24 17:16:22 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 626: 2/2 successful episodes +[05/24 17:16:22 Worker 0 INFO pipeline.py:473] Worker 0 starting house 640 (index 54/84) +[05/24 17:16:22 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 640 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:16:22 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:16:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:16:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:16:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:16:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:16:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the soap dispenser' +[05/24 17:16:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 0/2 collected=0/2 +[05/24 17:16:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:16:26 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:17:38 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 0 object soapdispenser_c44a2e4b26bddaf96812e05d7baf4f49_1_0_6 completed with success=False +[05/24 17:17:42 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:17:45 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_640_ceiling.xml +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=640, scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:17:45 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:17:45 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:17:45 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:17:45 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the translucent plastic cup' +[05/24 17:17:45 Worker 0 INFO pipeline.py:1050] Worker 0 house 640 episode 1/2 collected=1/2 +[05/24 17:17:45 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:17:46 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:18:59 Worker 0 INFO pipeline.py:1114] Worker 0 house 640 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_6 completed with success=False +[05/24 17:19:01 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_640: 2 episodes +[05/24 17:19:01 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:06 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_640 in 4.13s (batch: 3.93s, save: 0.19s) +[05/24 17:19:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_640 +[05/24 17:19:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 640: 0/2 successful episodes +[05/24 17:19:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 642 (index 55/84) +[05/24 17:19:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 642 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_642_ceiling.xml +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=642, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 33 objects +[05/24 17:19:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the transparent pepper shaker' +[05/24 17:19:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 642 episode 0/1 collected=0/2 +[05/24 17:19:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 642 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_2 completed with success=True +[05/24 17:19:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_642: 1 episodes +[05/24 17:19:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 65 timesteps +[05/24 17:19:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:19:24 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_642 in 1.84s (batch: 1.81s, save: 0.03s) +[05/24 17:19:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_642 +[05/24 17:19:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 642: 1/1 successful episodes +[05/24 17:19:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 665 (index 56/84) +[05/24 17:19:24 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 665 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:19:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:19:27 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_665_ceiling.xml +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=665, scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 52 objects +[05/24 17:19:27 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:19:27 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:19:27 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:19:27 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange conical spray bottle with nozzle' +[05/24 17:19:27 Worker 0 INFO pipeline.py:1050] Worker 0 house 665 episode 0/1 collected=0/2 +[05/24 17:19:27 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:19:28 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:20:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 665 episode 0 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_6 completed with success=False +[05/24 17:20:48 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_665: 1 episodes +[05/24 17:20:48 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:20:50 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:20:50 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_665 +[05/24 17:20:50 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_665 in 2.50s (batch: 2.41s, save: 0.09s) +[05/24 17:20:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_665 +[05/24 17:20:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 665: 0/1 successful episodes +[05/24 17:20:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 669 (index 57/84) +[05/24 17:20:51 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 669 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:20:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:20:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:20:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:20:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:20:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:20:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny metal ladle' +[05/24 17:20:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 0/2 collected=0/2 +[05/24 17:20:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:20:56 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:22:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_8 completed with success=False +[05/24 17:22:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:22:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_669_ceiling.xml +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=669, scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:22:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:22:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:22:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:22:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the rectangular green tissue box with tissues' +[05/24 17:22:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 669 episode 1/2 collected=1/2 +[05/24 17:22:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:48 Worker 0 INFO pipeline.py:1114] Worker 0 house 669 episode 1 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_4 completed with success=False +[05/24 17:23:51 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_669: 2 episodes +[05/24 17:23:51 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:23:55 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_669 +[05/24 17:23:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_669 in 4.12s (batch: 3.96s, save: 0.16s) +[05/24 17:23:56 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_669 +[05/24 17:23:56 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 669: 0/2 successful episodes +[05/24 17:23:56 Worker 0 INFO pipeline.py:473] Worker 0 starting house 688 (index 58/84) +[05/24 17:23:56 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 688 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:23:56 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:23:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_688_ceiling.xml +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=688, scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:23:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:23:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:23:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:23:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:23:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 688 episode 0/1 collected=0/2 +[05/24 17:23:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:23:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:25:04 Worker 0 INFO pipeline.py:1114] Worker 0 house 688 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_2 completed with success=False +[05/24 17:25:08 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_688: 1 episodes +[05/24 17:25:08 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:25:10 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:25:10 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_688 +[05/24 17:25:10 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_688 in 2.48s (batch: 2.37s, save: 0.11s) +[05/24 17:25:11 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_688 +[05/24 17:25:11 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 688: 0/1 successful episodes +[05/24 17:25:11 Worker 0 INFO pipeline.py:473] Worker 0 starting house 702 (index 59/84) +[05/24 17:25:11 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 702 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:25:11 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:25:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_702_ceiling.xml +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=702, scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 50 objects +[05/24 17:25:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:25:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:25:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:25:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark metallic cooking pot' +[05/24 17:25:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 702 episode 0/1 collected=0/2 +[05/24 17:25:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:25:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:26:27 Worker 0 INFO pipeline.py:1114] Worker 0 house 702 episode 0 object pot_8d0e6737bc33f6122dadb537b0f07d47_1_0_6 completed with success=False +[05/24 17:26:30 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_702: 1 episodes +[05/24 17:26:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:26:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:26:32 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_702 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:26:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_702 +[05/24 17:26:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 702: 0/1 successful episodes +[05/24 17:26:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 704 (index 60/84) +[05/24 17:26:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 704 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:26:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:26:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:26:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:26:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:26:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:26:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spatula' +[05/24 17:26:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 0/2 collected=0/2 +[05/24 17:26:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:06 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_8 completed with success=False +[05/24 17:28:09 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:28:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_704_ceiling.xml +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=704, scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 68 objects +[05/24 17:28:14 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:28:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:28:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:28:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:28:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light brown cardboard box with flaps' +[05/24 17:28:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 704 episode 1/2 collected=1/2 +[05/24 17:28:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:28:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:29:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 704 episode 1 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_4 completed with success=False +[05/24 17:29:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_704: 2 episodes +[05/24 17:29:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:49 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:29:51 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_704 in 4.25s (batch: 4.07s, save: 0.18s) +[05/24 17:29:51 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_704 +[05/24 17:29:51 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 704: 0/2 successful episodes +[05/24 17:29:51 Worker 0 INFO pipeline.py:473] Worker 0 starting house 724 (index 61/84) +[05/24 17:29:51 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 724 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:29:51 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:29:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_724_ceiling.xml +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=724, scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 87 objects +[05/24 17:29:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:29:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:29:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:29:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl with rim' +[05/24 17:29:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 724 episode 0/1 collected=0/2 +[05/24 17:29:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:29:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:30:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 724 episode 0 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_3 completed with success=True +[05/24 17:30:13 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_724: 1 episodes +[05/24 17:30:13 Worker 0 INFO save_utils.py:284] Preparing episode data: 61 timesteps +[05/24 17:30:15 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:30:15 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_724 in 1.83s (batch: 1.80s, save: 0.03s) +[05/24 17:30:15 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_724 +[05/24 17:30:15 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 724: 1/1 successful episodes +[05/24 17:30:15 Worker 0 INFO pipeline.py:473] Worker 0 starting house 738 (index 62/84) +[05/24 17:30:15 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 738 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:30:15 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:30:17 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:30:17 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:30:17 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:30:17 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:30:17 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ripe red tomato with stem' +[05/24 17:30:17 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 0/2 collected=0/2 +[05/24 17:30:17 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:30:18 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:31:34 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 0 object tomato_a3d246e7c1915021df1873ae97fb052e_2_0_2 completed with success=False +[05/24 17:31:37 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:31:39 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_738_ceiling.xml +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=738, scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 47 objects +[05/24 17:31:39 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:31:39 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:31:39 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:31:39 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cutlery' +[05/24 17:31:39 Worker 0 INFO pipeline.py:1050] Worker 0 house 738 episode 1/2 collected=1/2 +[05/24 17:31:39 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:31:40 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:32:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 738 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_2 completed with success=False +[05/24 17:33:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_738: 2 episodes +[05/24 17:33:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_738 +[05/24 17:33:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_738 in 4.92s (batch: 4.75s, save: 0.17s) +[05/24 17:33:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_738 +[05/24 17:33:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 738: 0/2 successful episodes +[05/24 17:33:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 749 (index 63/84) +[05/24 17:33:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 749 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:08 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_749_ceiling.xml +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=749, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:33:08 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:08 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:08 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:08 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cooking utensil' +[05/24 17:33:08 Worker 0 INFO pipeline.py:1050] Worker 0 house 749 episode 0/1 collected=0/2 +[05/24 17:33:08 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:33:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 749 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_6 completed with success=True +[05/24 17:33:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_749: 1 episodes +[05/24 17:33:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 68 timesteps +[05/24 17:33:26 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:33:26 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_749 in 2.23s (batch: 2.20s, save: 0.03s) +[05/24 17:33:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_749 +[05/24 17:33:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 749: 1/1 successful episodes +[05/24 17:33:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 767 (index 64/84) +[05/24 17:33:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 767 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:33:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:33:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_767_ceiling.xml +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=767, scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 27 objects +[05/24 17:33:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:33:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:33:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:33:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the white ceramic mug with handle' +[05/24 17:33:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 767 episode 0/1 collected=0/2 +[05/24 17:33:28 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:33:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 767 episode 0 object mug_8caf1bb3f88e9a00e02dfe9e6518aeb0_1_0_2 completed with success=True +[05/24 17:34:29 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_767: 1 episodes +[05/24 17:34:29 Worker 0 INFO save_utils.py:284] Preparing episode data: 346 timesteps +[05/24 17:34:31 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:34:31 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_767 +[05/24 17:34:31 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_767 in 2.46s (batch: 2.39s, save: 0.08s) +[05/24 17:34:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_767 +[05/24 17:34:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 767: 1/1 successful episodes +[05/24 17:34:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 772 (index 65/84) +[05/24 17:34:32 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 772 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:34:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:34:36 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:34:36 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:34:36 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:34:36 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:34:36 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the golden pump soap bottle' +[05/24 17:34:36 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 0/2 collected=0/2 +[05/24 17:34:36 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:34:37 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:34:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 0 object soapdispenser_b8726504edf0a781770524a38cc81949_1_0_6 completed with success=True +[05/24 17:34:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:03 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_772_ceiling.xml +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=772, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 55 objects +[05/24 17:35:03 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:03 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:03 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:03 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the spoon' +[05/24 17:35:03 Worker 0 INFO pipeline.py:1050] Worker 0 house 772 episode 1/2 collected=1/2 +[05/24 17:35:03 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:35:12 Worker 0 INFO pipeline.py:1114] Worker 0 house 772 episode 1 object spoon_573130d7496422c068be3abf14b0dcf0_1_0_6 completed with success=True +[05/24 17:35:15 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_772: 2 episodes +[05/24 17:35:15 Worker 0 INFO save_utils.py:284] Preparing episode data: 111 timesteps +[05/24 17:35:17 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:35:20 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_772 in 4.52s (batch: 4.46s, save: 0.06s) +[05/24 17:35:20 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_772 +[05/24 17:35:20 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 772: 2/2 successful episodes +[05/24 17:35:20 Worker 0 INFO pipeline.py:473] Worker 0 starting house 788 (index 66/84) +[05/24 17:35:20 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 788 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:35:20 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:35:25 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_788_ceiling.xml +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=788, scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 63 objects +[05/24 17:35:25 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:35:25 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:35:25 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:35:25 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark-handled kitchen spatula' +[05/24 17:35:25 Worker 0 INFO pipeline.py:1050] Worker 0 house 788 episode 0/1 collected=0/2 +[05/24 17:35:25 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 788 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_2_0_2 completed with success=False +[05/24 17:36:52 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_788: 1 episodes +[05/24 17:36:52 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:36:54 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:36:54 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_788 in 2.03s (batch: 1.94s, save: 0.09s) +[05/24 17:36:54 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_788 +[05/24 17:36:54 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 788: 0/1 successful episodes +[05/24 17:36:54 Worker 0 INFO pipeline.py:473] Worker 0 starting house 804 (index 67/84) +[05/24 17:36:54 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 804 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:36:54 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:36:57 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:36:57 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:36:57 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:36:57 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:36:57 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green tissue box rectangular' +[05/24 17:36:57 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 0/2 collected=0/2 +[05/24 17:36:57 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:36:58 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:10 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 0 object tissuepaper_1f28299e6e99a63de7abb400051cb351_1_0_7 completed with success=False +[05/24 17:38:13 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_804_ceiling.xml +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=804, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:38:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the light gray wooden bowl' +[05/24 17:38:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 804 episode 1/2 collected=1/2 +[05/24 17:38:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:38:25 Worker 0 INFO pipeline.py:1114] Worker 0 house 804 episode 1 object bowl_6befd62f08fd322391939c2b44d3f839_1_0_6 completed with success=True +[05/24 17:38:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_804: 2 episodes +[05/24 17:38:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:38:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:38:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_804 in 3.84s (batch: 3.71s, save: 0.13s) +[05/24 17:38:32 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_804 +[05/24 17:38:32 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 804: 1/2 successful episodes +[05/24 17:38:32 Worker 0 INFO pipeline.py:473] Worker 0 starting house 820 (index 68/84) +[05/24 17:38:32 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 820 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:38:32 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:38:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_820_ceiling.xml +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=820, scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 16 objects +[05/24 17:38:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:38:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:38:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:38:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the ladle' +[05/24 17:38:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 820 episode 0/1 collected=0/2 +[05/24 17:38:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:38:35 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:39:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 820 episode 0 object ladle_9c306e3043202395854ae4a3cba13e79_1_0_2 completed with success=False +[05/24 17:39:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_820: 1 episodes +[05/24 17:39:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:39:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:39:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_820 in 2.07s (batch: 1.98s, save: 0.10s) +[05/24 17:39:46 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_820 +[05/24 17:39:46 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 820: 0/1 successful episodes +[05/24 17:39:46 Worker 0 INFO pipeline.py:473] Worker 0 starting house 831 (index 69/84) +[05/24 17:39:46 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 831 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:39:46 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:39:49 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:39:49 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:39:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:39:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:39:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:39:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the green wine bottle' +[05/24 17:39:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 0/2 collected=0/2 +[05/24 17:39:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:39:50 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:07 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_6 completed with success=False +[05/24 17:41:10 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:14 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_831_ceiling.xml +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=831, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 45 objects +[05/24 17:41:14 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:14 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:14 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:14 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:41:14 Worker 0 INFO pipeline.py:1050] Worker 0 house 831 episode 1/2 collected=1/2 +[05/24 17:41:14 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:22 Worker 0 INFO pipeline.py:1114] Worker 0 house 831 episode 1 object spatula_291e31b285474249721c8a7b1bac877a_2_0_6 completed with success=True +[05/24 17:41:25 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_831: 2 episodes +[05/24 17:41:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:41:27 Worker 0 INFO save_utils.py:284] Preparing episode data: 48 timesteps +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:41:29 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_831 +[05/24 17:41:29 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_831 in 3.87s (batch: 3.76s, save: 0.11s) +[05/24 17:41:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_831 +[05/24 17:41:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 831: 1/2 successful episodes +[05/24 17:41:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 844 (index 70/84) +[05/24 17:41:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 844 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:41:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:34 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:34 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:34 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:34 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:34 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the glass pepper shaker' +[05/24 17:41:34 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 0/2 collected=0/2 +[05/24 17:41:34 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:34 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:41:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 0 object peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_8 completed with success=True +[05/24 17:41:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:41:56 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_844_ceiling.xml +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=844, scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 67 objects +[05/24 17:41:56 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:41:56 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:41:56 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:41:56 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the plastic cup' +[05/24 17:41:56 Worker 0 INFO pipeline.py:1050] Worker 0 house 844 episode 1/2 collected=1/2 +[05/24 17:41:56 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:41:57 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:19 Worker 0 INFO pipeline.py:1114] Worker 0 house 844 episode 1 object cup_00f92997b25a123a9fc9dcf350627c1e_1_0_8 completed with success=False +[05/24 17:43:22 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_844: 2 episodes +[05/24 17:43:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 81 timesteps +[05/24 17:43:25 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:27 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_844 +[05/24 17:43:27 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_844 in 4.78s (batch: 4.66s, save: 0.12s) +[05/24 17:43:28 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_844 +[05/24 17:43:28 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 844: 1/2 successful episodes +[05/24 17:43:28 Worker 0 INFO pipeline.py:473] Worker 0 starting house 849 (index 71/84) +[05/24 17:43:28 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 849 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:28 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:31 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_849_ceiling.xml +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=849, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 48 objects +[05/24 17:43:31 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:31 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:31 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:31 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue metallic cooking pot with handle' +[05/24 17:43:31 Worker 0 INFO pipeline.py:1050] Worker 0 house 849 episode 0/1 collected=0/2 +[05/24 17:43:31 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:43:32 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:43:49 Worker 0 INFO pipeline.py:1114] Worker 0 house 849 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_6 completed with success=True +[05/24 17:43:53 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_849: 1 episodes +[05/24 17:43:53 Worker 0 INFO save_utils.py:284] Preparing episode data: 95 timesteps +[05/24 17:43:55 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:43:55 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_849 in 2.31s (batch: 2.27s, save: 0.04s) +[05/24 17:43:55 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_849 +[05/24 17:43:55 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 849: 1/1 successful episodes +[05/24 17:43:55 Worker 0 INFO pipeline.py:473] Worker 0 starting house 867 (index 72/84) +[05/24 17:43:55 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 867 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:43:55 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:43:59 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:43:59 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:43:59 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:43:59 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:43:59 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the polished metal fork with curve' +[05/24 17:43:59 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 0/2 collected=0/2 +[05/24 17:44:00 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:00 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 0 object fork_a17d780ca6a79038b069eb7768c962c4_1_0_8 completed with success=True +[05/24 17:44:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:16 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_867_ceiling.xml +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=867, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 59 objects +[05/24 17:44:16 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:16 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:16 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:16 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:44:16 Worker 0 INFO pipeline.py:1050] Worker 0 house 867 episode 1/2 collected=1/2 +[05/24 17:44:16 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:17 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 867 episode 1 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_8 completed with success=True +[05/24 17:44:26 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_867: 2 episodes +[05/24 17:44:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:44:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 40 timesteps +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:44:30 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_867 in 3.57s (batch: 3.51s, save: 0.05s) +[05/24 17:44:30 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_867 +[05/24 17:44:30 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 867: 2/2 successful episodes +[05/24 17:44:30 Worker 0 INFO pipeline.py:473] Worker 0 starting house 885 (index 73/84) +[05/24 17:44:30 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 885 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:44:30 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:32 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:32 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:32 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:32 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:32 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the kitchen spatula' +[05/24 17:44:32 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 0/2 collected=0/2 +[05/24 17:44:32 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:33 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:44:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 0 object spatula_291e31b285474249721c8a7b1bac877a_1_0_2 completed with success=True +[05/24 17:44:47 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:44:48 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_885_ceiling.xml +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=885, scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 28 objects +[05/24 17:44:48 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:44:48 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:44:48 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:44:48 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange bottle' +[05/24 17:44:48 Worker 0 INFO pipeline.py:1050] Worker 0 house 885 episode 1/2 collected=1/2 +[05/24 17:44:48 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:44:49 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:45:57 Worker 0 INFO pipeline.py:1114] Worker 0 house 885 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_2 completed with success=False +[05/24 17:46:00 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_885: 2 episodes +[05/24 17:46:00 Worker 0 INFO save_utils.py:284] Preparing episode data: 77 timesteps +[05/24 17:46:03 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:05 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_885 +[05/24 17:46:05 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_885 in 4.94s (batch: 4.83s, save: 0.11s) +[05/24 17:46:06 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_885 +[05/24 17:46:06 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 885: 1/2 successful episodes +[05/24 17:46:06 Worker 0 INFO pipeline.py:473] Worker 0 starting house 890 (index 74/84) +[05/24 17:46:06 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 890 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_890_ceiling.xml +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=890, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth dark teal box' +[05/24 17:46:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 890 episode 0/1 collected=0/2 +[05/24 17:46:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:46:30 Worker 0 INFO pipeline.py:1114] Worker 0 house 890 episode 0 object box_4ab2cc42c0121e89202b9f093bf6f267_1_0_7 completed with success=True +[05/24 17:46:33 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_890: 1 episodes +[05/24 17:46:33 Worker 0 INFO save_utils.py:284] Preparing episode data: 116 timesteps +[05/24 17:46:35 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:46:35 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_890 in 1.83s (batch: 1.79s, save: 0.04s) +[05/24 17:46:35 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_890 +[05/24 17:46:35 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 890: 1/1 successful episodes +[05/24 17:46:35 Worker 0 INFO pipeline.py:473] Worker 0 starting house 898 (index 75/84) +[05/24 17:46:35 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 898 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:46:35 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:46:40 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:46:40 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:46:40 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:46:40 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:46:40 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver butter knife' +[05/24 17:46:40 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 0/2 collected=0/2 +[05/24 17:46:40 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:46:41 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:48:05 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_8 completed with success=False +[05/24 17:48:07 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:48:12 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_898_ceiling.xml +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=898, scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 56 objects +[05/24 17:48:12 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:48:12 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:48:12 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:48:12 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the red apple' +[05/24 17:48:12 Worker 0 INFO pipeline.py:1050] Worker 0 house 898 episode 1/2 collected=1/2 +[05/24 17:48:12 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:48:13 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:49:36 Worker 0 INFO pipeline.py:1114] Worker 0 house 898 episode 1 object apple_c4656249220dffb6f61d18517b39de70_1_0_8 completed with success=False +[05/24 17:49:39 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_898: 2 episodes +[05/24 17:49:39 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:41 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:49:43 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_898 +[05/24 17:49:43 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_898 in 4.48s (batch: 4.29s, save: 0.19s) +[05/24 17:49:44 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_898 +[05/24 17:49:44 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 898: 0/2 successful episodes +[05/24 17:49:44 Worker 0 INFO pipeline.py:473] Worker 0 starting house 916 (index 76/84) +[05/24 17:49:44 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 916 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:49:44 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:49:54 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:49:54 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:49:54 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:49:54 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:49:54 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark green wine bottle' +[05/24 17:49:54 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 0/2 collected=0/2 +[05/24 17:49:54 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:49:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:51:56 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 0 object winebottle_201eb4050e30f10e57909e4c975910e9_1_0_2 completed with success=False +[05/24 17:51:59 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:10 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_916_ceiling.xml +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=916, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 149 objects +[05/24 17:52:10 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:10 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:10 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:10 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the orange spray bottle' +[05/24 17:52:10 Worker 0 INFO pipeline.py:1050] Worker 0 house 916 episode 1/2 collected=1/2 +[05/24 17:52:10 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:11 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:24 Worker 0 INFO pipeline.py:1114] Worker 0 house 916 episode 1 object atomizer_f2c2791e460c41f03b6d3f28fbad8f2c_1_0_9 completed with success=True +[05/24 17:52:28 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_916: 2 episodes +[05/24 17:52:28 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:52:30 Worker 0 INFO save_utils.py:284] Preparing episode data: 49 timesteps +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:32 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_916 +[05/24 17:52:32 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_916 in 4.84s (batch: 4.71s, save: 0.14s) +[05/24 17:52:33 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_916 +[05/24 17:52:33 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 916: 1/2 successful episodes +[05/24 17:52:33 Worker 0 INFO pipeline.py:473] Worker 0 starting house 923 (index 77/84) +[05/24 17:52:33 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 923 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:33 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:37 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_923_ceiling.xml +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=923, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 71 objects +[05/24 17:52:37 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:37 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:37 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:37 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the dark teal box' +[05/24 17:52:37 Worker 0 INFO pipeline.py:1050] Worker 0 house 923 episode 0/1 collected=0/2 +[05/24 17:52:37 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:38 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:52:47 Worker 0 INFO pipeline.py:1114] Worker 0 house 923 episode 0 object box_f6e09f3868d4ffa7924a0719511c099d_1_0_6 completed with success=True +[05/24 17:52:50 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_923: 1 episodes +[05/24 17:52:50 Worker 0 INFO save_utils.py:284] Preparing episode data: 54 timesteps +[05/24 17:52:52 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:52:52 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_923 in 1.81s (batch: 1.78s, save: 0.03s) +[05/24 17:52:52 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_923 +[05/24 17:52:52 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 923: 1/1 successful episodes +[05/24 17:52:52 Worker 0 INFO pipeline.py:473] Worker 0 starting house 941 (index 78/84) +[05/24 17:52:52 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 941 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:52:52 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:52:55 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:52:55 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:52:55 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:52:55 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:52:55 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the silver polished butter knife with handle' +[05/24 17:52:55 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 0/2 collected=0/2 +[05/24 17:52:55 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:52:55 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:53:03 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 0 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_2_0_2 completed with success=True +[05/24 17:53:06 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:53:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_941_ceiling.xml +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=941, scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 42 objects +[05/24 17:53:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:53:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:53:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:53:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the butterknife' +[05/24 17:53:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 941 episode 1/2 collected=1/2 +[05/24 17:53:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:53:09 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:54:17 Worker 0 INFO pipeline.py:1114] Worker 0 house 941 episode 1 object butterknife_b2b8a251c5e331c4017267a6e05c76d5_1_0_2 completed with success=False +[05/24 17:54:21 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_941: 2 episodes +[05/24 17:54:21 Worker 0 INFO save_utils.py:284] Preparing episode data: 57 timesteps +[05/24 17:54:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:54:25 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_941 +[05/24 17:54:25 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_941 in 4.73s (batch: 4.60s, save: 0.12s) +[05/24 17:54:26 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_941 +[05/24 17:54:26 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 941: 1/2 successful episodes +[05/24 17:54:26 Worker 0 INFO pipeline.py:473] Worker 0 starting house 942 (index 79/84) +[05/24 17:54:26 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 942 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:54:26 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:54:28 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_942_ceiling.xml +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=942, scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 31 objects +[05/24 17:54:28 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:54:28 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:54:28 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:54:28 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the blue spray bottle with nozzle' +[05/24 17:54:28 Worker 0 INFO pipeline.py:1050] Worker 0 house 942 episode 0/1 collected=0/2 +[05/24 17:54:29 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:54:29 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:55:44 Worker 0 INFO pipeline.py:1114] Worker 0 house 942 episode 0 object atomizer_e0cab0ef1fe80f6fe596048b9bc862a1_1_0_5 completed with success=False +[05/24 17:55:47 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_942: 1 episodes +[05/24 17:55:47 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:55:49 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:55:49 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_942 in 1.99s (batch: 1.90s, save: 0.09s) +[05/24 17:55:49 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_942 +[05/24 17:55:49 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 942: 0/1 successful episodes +[05/24 17:55:49 Worker 0 INFO pipeline.py:473] Worker 0 starting house 955 (index 80/84) +[05/24 17:55:49 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 955 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:55:49 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:55:50 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_955_ceiling.xml +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=955, scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 11 objects +[05/24 17:55:50 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:55:50 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:55:50 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:55:50 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the matte dark gray bowl' +[05/24 17:55:50 Worker 0 INFO pipeline.py:1050] Worker 0 house 955 episode 0/1 collected=0/2 +[05/24 17:55:50 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:55:51 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:28 Worker 0 INFO pipeline.py:1114] Worker 0 house 955 episode 0 object bowl_847a24bfa9d8b1a1f26661ebbb850f56_1_0_2 completed with success=True +[05/24 17:56:31 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_955: 1 episodes +[05/24 17:56:31 Worker 0 INFO save_utils.py:284] Preparing episode data: 262 timesteps +[05/24 17:56:33 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:56:33 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_955 +[05/24 17:56:33 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_955 in 1.95s (batch: 1.89s, save: 0.06s) +[05/24 17:56:34 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_955 +[05/24 17:56:34 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 955: 1/1 successful episodes +[05/24 17:56:34 Worker 0 INFO pipeline.py:473] Worker 0 starting house 963 (index 81/84) +[05/24 17:56:34 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 963 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:56:34 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:56:41 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:56:41 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:56:41 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:56:41 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:56:41 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the slim black remote with buttons' +[05/24 17:56:41 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 0/2 collected=0/2 +[05/24 17:56:42 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:56:42 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:56:58 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 0 object remotecontrol_488ea7924f7cb4d329c991926df62222_3_0_10 completed with success=True +[05/24 17:57:01 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:09 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_963_ceiling.xml +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=963, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 89 objects +[05/24 17:57:09 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:09 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:09 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:09 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the smooth shallow light brown bowl' +[05/24 17:57:09 Worker 0 INFO pipeline.py:1050] Worker 0 house 963 episode 1/2 collected=1/2 +[05/24 17:57:09 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:10 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:57:18 Worker 0 INFO pipeline.py:1114] Worker 0 house 963 episode 1 object bowl_be7868e9f68042e57983c0b0aeec19df_1_0_10 completed with success=True +[05/24 17:57:20 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_963: 2 episodes +[05/24 17:57:20 Worker 0 INFO save_utils.py:284] Preparing episode data: 72 timesteps +[05/24 17:57:22 Worker 0 INFO save_utils.py:284] Preparing episode data: 38 timesteps +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:57:24 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_963 in 3.58s (batch: 3.52s, save: 0.05s) +[05/24 17:57:24 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_963 +[05/24 17:57:24 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 963: 2/2 successful episodes +[05/24 17:57:24 Worker 0 INFO pipeline.py:473] Worker 0 starting house 982 (index 82/84) +[05/24 17:57:24 Worker 0 INFO json_eval_runner.py:278] Loaded 2 episodes for house 982 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:57:24 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:57:26 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:57:26 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:57:26 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:57:26 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:57:26 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the cookware' +[05/24 17:57:26 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 0/2 collected=0/2 +[05/24 17:57:26 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:57:27 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:58:09 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 0 object pot_811f072cf19900b4e135f7de5cb90e81_1_0_2 completed with success=True +[05/24 17:58:12 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:58:13 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_982_ceiling.xml +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=982, scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 24 objects +[05/24 17:58:13 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:58:13 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:58:13 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:58:13 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the shiny silver metallic kettle' +[05/24 17:58:13 Worker 0 INFO pipeline.py:1050] Worker 0 house 982 episode 1/2 collected=1/2 +[05/24 17:58:13 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:58:14 Worker 0 WARNING task.py:309] Camera sensor 'wrist_camera' observation mismatch between reset and first step. Overwriting cached observation with current state. +[05/24 17:59:20 Worker 0 INFO pipeline.py:1114] Worker 0 house 982 episode 1 object boiler_335af387651d9869b84abf1fb099bf69_1_0_2 completed with success=False +[05/24 17:59:23 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_982: 2 episodes +[05/24 17:59:23 Worker 0 INFO save_utils.py:284] Preparing episode data: 271 timesteps +[05/24 17:59:26 Worker 0 INFO save_utils.py:284] Preparing episode data: 451 timesteps +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:28 Worker 0 INFO save_utils.py:703] Saved 2 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_982 +[05/24 17:59:28 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_982 in 4.93s (batch: 4.79s, save: 0.14s) +[05/24 17:59:29 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_982 +[05/24 17:59:29 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 982: 1/2 successful episodes +[05/24 17:59:29 Worker 0 INFO pipeline.py:473] Worker 0 starting house 994 (index 83/84) +[05/24 17:59:29 Worker 0 INFO json_eval_runner.py:278] Loaded 1 episodes for house 994 from /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/benchmark_shards/shard_07 +[05/24 17:59:29 Worker 0 INFO task_sampler.py:317] Data versions in use: {'robots': {'rby1': '20251224', 'rby1m': '20251224', 'franka_droid': '20260127', 'franka_cap': '20260213', 'floating_rum': '20251110', 'floating_robotiq': '20260208_retry4', 'franka_fr3': '20260303'}, 'scenes': {'ithor': '20251217', 'refs': '20250923', 'procthor-10k-train': '20251122', 'procthor-10k-val': '20251217', 'procthor-10k-test': '20251121', 'holodeck-objaverse-train': '20251217', 'holodeck-objaverse-val': '20251217', 'procthor-objaverse-train': '20251205', 'procthor-objaverse-val': '20251205'}, 'objects': {'thor': '20251117', 'objaverse': '20260131', 'objathor_metadata': '20260129'}, 'grasps': {'droid': '20251116', 'droid_objaverse': '20251218'}, 'test_data': {'franka_pick': '20260209', 'franka_pick_and_place': '20260305', 'rby1_door_opening': '20260228', 'rby1_pnp': '20260305', 'rum_open_close': '20260305', 'rum_pick': '20260209', 'test_randomized_data': '20251209', 'thormap': '20251209'}, 'benchmarks': {'molmospaces-bench-v1': '20260210', 'molmospaces-bench-v2': '20260327'}} +[05/24 17:59:30 Worker 0 INFO task_sampler.py:797] Scene updated: /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets/scenes/procthor-10k-val/val_994_ceiling.xml +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:662] randomize_scene: episode_spec says: house_index=994, scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:668] randomize_scene: config says: scene_dataset=procthor-10k, data_split=val +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:686] randomize_scene: Setting poses for 12 objects +[05/24 17:59:30 Worker 0 WARNING json_eval_task_sampler.py:441] Not setting joint of +[05/24 17:59:30 Worker 0 INFO json_eval_task_sampler.py:726] Scene setup from episode spec completed. +[05/24 17:59:30 Worker 0 INFO camera_manager.py:300] [CAMERA SETUP] Setting up 2 cameras +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'wrist_camera' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:510] [CAMERA SETUP] Set up robot-mounted camera 'exo_camera_1' +[05/24 17:59:30 Worker 0 INFO camera_manager.py:326] [CAMERA SETUP] Successfully set up 2 cameras +[05/24 17:59:30 Worker 0 INFO task_sampler.py:1136] Sampled task 'Pick up the carton' +[05/24 17:59:30 Worker 0 INFO pipeline.py:1050] Worker 0 house 994 episode 0/1 collected=0/2 +[05/24 17:59:30 Worker 0 WARNING sensors.py:1071] Policy does not support tracking retries. +[05/24 17:59:41 Worker 0 INFO pipeline.py:1114] Worker 0 house 994 episode 0 object box_7c54a26cba93093ca8aceb6fbac82646_1_0_2 completed with success=True +[05/24 17:59:44 Worker 0 INFO pipeline.py:233] Batching and saving trajectory data for house_994: 1 episodes +[05/24 17:59:44 Worker 0 INFO save_utils.py:284] Preparing episode data: 74 timesteps +[05/24 17:59:46 Worker 0 WARNING save_utils.py:659] No terminated recorded, assuming episode ended +[05/24 17:59:46 Worker 0 INFO save_utils.py:703] Saved 1 episodes to: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445/house_994 +[05/24 17:59:46 Worker 0 INFO pipeline.py:280] Successfully saved trajectory data for house_994 in 2.22s (batch: 2.18s, save: 0.04s) +[05/24 17:59:47 Worker 0 WARNING pipeline.py:229] No trajectory data to save for house_994 +[05/24 17:59:47 Worker 0 INFO pipeline.py:1243] Worker 0 completed house 994: 1/1 successful episodes +[05/24 17:59:47 Worker 0 INFO pipeline.py:526] Worker 0 completed processing assigned houses +[05/24 17:59:47 INFO pipeline.py:1496] Completed 84 houses, skipped 0 houses +[05/24 17:59:47 INFO pipeline.py:1499] Success count: 68, Total count: 125 +[05/24 17:59:47 INFO pipeline.py:1500] Success rate: 54.40% +Combined 125 episodes from 84 files → /tmp/tmp9xmaylc0.h5 + +Saved → /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv at-end: 54.4% | oracle: 54.4% of 125 episodes +[2026-05-24 17:59:55,660] INFO MolmoSpaces simulator eval finished: success=68/125 rate=0.5440 output=/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval +[2026-05-24 17:59:55,660] INFO Benchmark CSV: /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/results.csv + +Submission artifacts ready: + CSV : /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/submission/results.csv + Bundle zip : 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"/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards/shard_07/eval/RuntimeWanMolmoSpacesEvalConfig/20260524_160445" + } + ], + "results_csv": "results.csv", + "benchmark_named_csv": "FrankaPickDroidMiniBench_json_benchmark_20251231_results.csv", + "episode_results_jsonl": "episode_results.jsonl", + "official_csv_overall": null, + "raw_episode_results_success_count": 502, + "raw_episode_results_oracle_done_count": 502 +} diff --git a/pick_msproc/run_command.sh b/pick_msproc/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..a7f8b48c4e8ecd5e7fa6f5a5c53b6e855ccc2a96 --- /dev/null +++ b/pick_msproc/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-10k/FrankaPickDroidMiniBench/FrankaPickDroidMiniBench_json_benchmark_20251231 --task-name pick_msproc --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization diff --git a/pick_msproc/submission/pick_msproc_results.csv b/pick_msproc/submission/pick_msproc_results.csv new file mode 100644 index 0000000000000000000000000000000000000000..c3fc9b8cd02c4db405b84ecc97857b8a095bf0f3 --- /dev/null +++ b/pick_msproc/submission/pick_msproc_results.csv @@ -0,0 +1,24 @@ +# policy_name: latest +# run_path: outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc/pick_msproc/shards +# dt: 0.066 +# max_steps: 450 +policy,category,successes,total,success_rate_pct,ci_95_low_pct,ci_95_high_pct,oracle_successes,oracle_rate_pct,oracle_ci_95_low_pct,oracle_ci_95_high_pct,jerk_joint_mean,jerk_joint_std +latest,Bottle,14,55,25.45,15.83,38.37,14,25.45,15.83,38.37,244.053865,93.237272 +latest,Bowl,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,203.417267,111.172564 +latest,Box,41,55,74.55,61.63,84.17,41,74.55,61.63,84.17,208.222346,115.015186 +latest,Cup,38,56,67.86,54.76,78.6,38,67.86,54.76,78.6,165.378821,93.24736 +latest,Fork,26,56,46.43,33.98,59.34,26,46.43,33.98,59.34,162.624139,99.367869 +latest,Fruit,7,55,12.73,6.38,24.07,7,12.73,6.38,24.07,260.609186,102.869966 +latest,Kettle,35,56,62.5,49.34,74.0,35,62.5,49.34,74.0,195.298126,125.647795 +latest,Knife,25,56,44.64,32.36,57.64,25,44.64,32.36,57.64,188.817267,111.252547 +latest,Ladle,27,55,49.09,36.34,61.97,27,49.09,36.34,61.97,162.80882,108.237446 +latest,Mug,43,56,76.79,64.16,85.87,43,76.79,64.16,85.87,152.484252,99.507377 +latest,Pot,41,56,73.21,60.34,83.03,41,73.21,60.34,83.03,190.899952,121.679277 +latest,Remote Control,34,55,61.82,48.55,73.5,34,61.82,48.55,73.5,154.925136,96.772079 +latest,S/p Shaker,19,56,33.93,22.91,47.06,19,33.93,22.91,47.06,232.918377,100.911861 +latest,Soap Dispenser,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.644516,131.426341 +latest,Spatula,21,56,37.5,26.0,50.66,21,37.5,26.0,50.66,151.200522,95.373086 +latest,Spoon,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,171.914845,103.344219 +latest,Spray Bottle,18,56,32.14,21.4,45.24,18,32.14,21.4,45.24,194.996556,94.060216 +latest,Tissue Paper,24,55,43.64,31.34,56.78,24,43.64,31.34,56.78,202.600884,126.782425 +latest,OVERALL,502,1000,50.2,47.11,53.29,502,50.2,47.11,53.29,191.357854,112.191979 diff --git a/pick_msproc/submission/pick_msproc_submission_manifest.json b/pick_msproc/submission/pick_msproc_submission_manifest.json new file mode 100644 index 0000000000000000000000000000000000000000..f27bfd413d85b5d3d692934c27d92c628916f5c0 --- /dev/null +++ b/pick_msproc/submission/pick_msproc_submission_manifest.json @@ -0,0 +1,22 @@ +{ + "task_name": "pick_msproc", + "policy_name": "latest", + "checkpoint_path": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "benchmark_dir": 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502 +} diff --git a/pick_msproc/submission/run_command.sh b/pick_msproc/submission/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..a7f8b48c4e8ecd5e7fa6f5a5c53b6e855ccc2a96 --- /dev/null +++ b/pick_msproc/submission/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_msproc --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-10k/FrankaPickDroidMiniBench/FrankaPickDroidMiniBench_json_benchmark_20251231 --task-name pick_msproc --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization diff --git a/pick_msproc/submission/task_runs.jsonl b/pick_msproc/submission/task_runs.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/pick_randcam/run_command.sh b/pick_randcam/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..f6e1b311575ee132d2cbbe409564cbe5dfbffacf --- /dev/null +++ b/pick_randcam/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pick_randcam --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickHardBench/FrankaPickHardBench_20260206_json_benchmark --task-name pick_randcam --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name randomized_zed2_analogue_1 --obs-wrist-camera-name wrist_camera_zed_mini --camera-names randomized_zed2_analogue_1 wrist_camera_zed_mini --preview-camera-names randomized_zed2_analogue_1 --use-filament diff --git a/pnp_color_v2/run_command.sh b/pnp_color_v2/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..09a8e6682eeb2aca9ec821ecd5fd151c9f2b79f1 --- /dev/null +++ b/pnp_color_v2/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_color_v2 --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceColorHardBench/FrankaPickandPlaceColorHardBench_20260304_json_benchmark --task-name pnp_color_v2 --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --threads-per-shard 8 --shard-force-install False --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament --prewarm-resources --resume-existing diff --git a/pnp_next_to_v2/run_command.sh b/pnp_next_to_v2/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..d53a81607226c2bc07e50fbcddbf08ee99321c6e --- /dev/null +++ b/pnp_next_to_v2/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_next_to_v2 --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceNextToHardBench/FrankaPickandPlaceNextToHardBench_20260305_json_benchmark --task-name pnp_next_to_v2 --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --threads-per-shard 8 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament --resume-existing diff --git a/pnp_v2/run_command.sh b/pnp_v2/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..6650f3d2ef0e5816324eac9febaea744aa4a3cb6 --- /dev/null +++ b/pnp_v2/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_official_ms_pick_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950/pnp_v2 --benchmark-dir /home/yuanpei/.cache/molmo-spaces-resources/benchmarks/molmospaces-bench-v2/20260327/procthor-objaverse/FrankaPickandPlaceHardBench/FrankaPickandPlaceHardBench_20260206_json_benchmark --task-name pnp_v2 --prompt-embedding-cache-dir /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/.psi_policy_cache/molmospaces_bench_v2_remaining_7/text_embeddings/wan --policy-name latest --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --text-embedding-device cpu --task-horizon-steps 450 --action-chunk-size 8 --policy-dt-ms 66.0 --ctrl-dt-ms 2.0 --sim-dt-ms 2.0 --assets-dir /share_data_prj/chenyuanpei/psi-policy-v2/molmospaces/assets --conda-env molmospace --obs-camera-name droid_shoulder_light_randomization --obs-wrist-camera-name wrist_camera_zed_mini --camera-names droid_shoulder_light_randomization wrist_camera_zed_mini --preview-camera-names droid_shoulder_light_randomization --use-filament --resume-existing diff --git a/remaining7_summary.json b/remaining7_summary.json new file mode 100644 index 0000000000000000000000000000000000000000..dad9ec80c33c2bd8ed3f133ab5d8f2c36074ec2d --- /dev/null +++ b/remaining7_summary.json @@ -0,0 +1,10 @@ +{ + "checkpoint": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt", + "policy_name": "latest", + "selected_count": 1, + "success_tasks": [ + "pnp_color_v2" + ], + "failed_tasks": [], + "output_root": "/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950" +} diff --git a/run_command.sh b/run_command.sh new file mode 100644 index 0000000000000000000000000000000000000000..bb47bc64f5931640a90404ff22a1b24d15e656ad --- /dev/null +++ b/run_command.sh @@ -0,0 +1,4 @@ +#!/usr/bin/env bash +set -euo pipefail +cd /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy +/share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/run_remaining_molmospaces_bench_v2_submission_multigpu.sh --ckpt /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/2026-05-23/02-36-30/checkpoints/latest.ckpt --output-root /share_data_prj/chenyuanpei/psi-policy-v2/psi-policy/outputs/remaining_molmospaces_bench_v2_submission_multigpu/20260524_155950 --start-at pnp_color_v2 --skip-existing --resume-existing --gpus 0\,1\,2\,3\,4\,5\,6\,7 --workers-per-gpu 1 --threads-per-shard 8